Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366967" target="_blank" >RIV/68407700:21230/23:00366967 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1016/j.robot.2023.104482" target="_blank" >https://doi.org/10.1016/j.robot.2023.104482</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2023.104482" target="_blank" >10.1016/j.robot.2023.104482</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

Popis výsledku v původním jazyce

This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The wall-building scenario of Challenge 2 featured an initial stack of bricks and wall structure where the individual bricks had to be placed by a team of three UAVs. The objective of the task was to maximize collected points for placing the bricks within the restricted construction time while following the prescribed wall pattern. The proposed approach uses initial scanning to find a priori unknown locations of the bricks and the wall structure. Each UAV is then assigned to individual bricks and wall placing locations and further performs grasping and placement using onboard resources only. The developed system consists of methods for scanning a given area, RGB-D detection of bricks and wall placement locations, precise grasping and placing of bricks, and coordination of multiple UAVs. The paper describes the overall system, individual components, experimental verification in demanding outdoor conditions, the achieved results in the competition, and lessons learned. The presented CTU-UPenn-NYU approach achieved the overall best performance among all participants to win the MBZIRC competition by collecting the highest number of points by correct placement of a high number of bricks.

Název v anglickém jazyce

Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

Popis výsledku anglicky

This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The wall-building scenario of Challenge 2 featured an initial stack of bricks and wall structure where the individual bricks had to be placed by a team of three UAVs. The objective of the task was to maximize collected points for placing the bricks within the restricted construction time while following the prescribed wall pattern. The proposed approach uses initial scanning to find a priori unknown locations of the bricks and the wall structure. Each UAV is then assigned to individual bricks and wall placing locations and further performs grasping and placement using onboard resources only. The developed system consists of methods for scanning a given area, RGB-D detection of bricks and wall placement locations, precise grasping and placing of bricks, and coordination of multiple UAVs. The paper describes the overall system, individual components, experimental verification in demanding outdoor conditions, the achieved results in the competition, and lessons learned. The presented CTU-UPenn-NYU approach achieved the overall best performance among all participants to win the MBZIRC competition by collecting the highest number of points by correct placement of a high number of bricks.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

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

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Svazek periodika

167

Číslo periodika v rámci svazku

September

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

19

Strana od-do

—

Kód UT WoS článku

001037750600001

EID výsledku v databázi Scopus

2-s2.0-85164241598