SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00360724" target="_blank" >RIV/68407700:21230/22:00360724 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2022.3195194" target="_blank" >https://doi.org/10.1109/LRA.2022.3195194</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2022.3195194" target="_blank" >10.1109/LRA.2022.3195194</a>

Jazyk výsledku

angličtina

Název v původním jazyce

SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Popis výsledku v původním jazyce

A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this letter. Most state-of-the-art planning methods find the shortest paths while keeping the UAV at a pre-defined distance from obstacles. Planning over the proposed structure reaches this pre-defined distance only when necessary, maintaining a safer distance otherwise, while also being orders of magnitude faster than other state-of-the-art methods. Furthermore, we demonstrate how this graph representation can be converted into a lightweight shareable topological-volumetric map of the environment, which enables decentralized multi-robot cooperation. The proposed approach was successfully validated in several kilometers of real subterranean environments, such as caves, devastated industrial buildings, and in the harsh and complex setting of the final event of the DARPA SubT Challenge, which aims to mimic the conditions of real search and rescue missions as closely as possible, and where our approach achieved the 2nd place in the virtual track.

Název v anglickém jazyce

SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Popis výsledku anglicky

A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this letter. Most state-of-the-art planning methods find the shortest paths while keeping the UAV at a pre-defined distance from obstacles. Planning over the proposed structure reaches this pre-defined distance only when necessary, maintaining a safer distance otherwise, while also being orders of magnitude faster than other state-of-the-art methods. Furthermore, we demonstrate how this graph representation can be converted into a lightweight shareable topological-volumetric map of the environment, which enables decentralized multi-robot cooperation. The proposed approach was successfully validated in several kilometers of real subterranean environments, such as caves, devastated industrial buildings, and in the harsh and complex setting of the final event of the DARPA SubT Challenge, which aims to mimic the conditions of real search and rescue missions as closely as possible, and where our approach achieved the 2nd place in the virtual track.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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

2022

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

7

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

11007-11014

Kód UT WoS článku

000844135200022

EID výsledku v databázi Scopus

2-s2.0-85132771261