A Multi-UAV System for Detection and Elimination of Multiple Targets

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00351028" target="_blank" >RIV/68407700:21230/21:00351028 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICRA48506.2021.9562057" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9562057</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9562057" target="_blank" >10.1109/ICRA48506.2021.9562057</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A Multi-UAV System for Detection and Elimination of Multiple Targets

Popis výsledku v původním jazyce

The problem of safe interception of multiple intruder UAVs by a team of cooperating autonomous aerial vehicles is addressed in this paper. The presented work is motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where this task was simplified to an interaction with a set of static and dynamic objects (balloons and a UAV), and by a real autonomous aerial interception system of Eagle.One that our team has been working on. We propose a general control, perception, and coordination system for the fast and reliable interception of targets in a 3D environment relying only on onboard sensors and processing. The proposed methods and the entire complex multi-robot sys- tem were successfully verified in demanding desert conditions, with the main focus on reliability and fast deployment. In the MBZIRC competition, the proposed approach exhibited the greatest reliability and fastest solution. It was crucial to our team in winning the entire competition and achieving the second place in the intruder UAV interception scenario.

Název v anglickém jazyce

A Multi-UAV System for Detection and Elimination of Multiple Targets

Popis výsledku anglicky

The problem of safe interception of multiple intruder UAVs by a team of cooperating autonomous aerial vehicles is addressed in this paper. The presented work is motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where this task was simplified to an interaction with a set of static and dynamic objects (balloons and a UAV), and by a real autonomous aerial interception system of Eagle.One that our team has been working on. We propose a general control, perception, and coordination system for the fast and reliable interception of targets in a 3D environment relying only on onboard sensors and processing. The proposed methods and the entire complex multi-robot sys- tem were successfully verified in demanding desert conditions, with the main focus on reliability and fast deployment. In the MBZIRC competition, the proposed approach exhibited the greatest reliability and fastest solution. It was crucial to our team in winning the entire competition and achieving the second place in the intruder UAV interception scenario.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-9077-8

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

555-561

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Xi’an

Datum konání akce

30. 5. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000765738800048