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Kolling, Andreas
Publications (3 of 3) Show all publications
Kolling, A., Kleiner, A. & Rudol, P. (2013). Fast Guaranteed Search With Unmanned Aerial Vehicles. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan (pp. 6013-6018). IEEE
Open this publication in new window or tab >>Fast Guaranteed Search With Unmanned Aerial Vehicles
2013 (English)In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), IEEE , 2013, p. 6013-6018Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones. 

Place, publisher, year, edition, pages
IEEE, 2013
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
National Category
Computer Systems Robotics
Identifiers
urn:nbn:se:liu:diva-95888 (URN)10.1109/IROS.2013.6697229 (DOI)000331367406013 ()
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan
Projects
ELLIITCUASSHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-08-07 Created: 2013-08-07 Last updated: 2017-02-13
Kleiner, A. & Kolling, A. (2013). Guaranteed Search With Large Teams of Unmanned Aerial Vehicles. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2013) (pp. 2977-2983). IEEE conference proceedings
Open this publication in new window or tab >>Guaranteed Search With Large Teams of Unmanned Aerial Vehicles
2013 (English)In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE conference proceedings, 2013, p. 2977-2983Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of detecting moving and evading targets by a team of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are implicitly given by the motion of these sweep lines and their costs are determined by the number of UAVs needed. A novel algorithm that computes low cost coordination strategies of the UAV sweep lines in simply connected polygonal environments is presented. The resulting strategies are then converted to strategies clearing multiply connected and 2.5D environments. Experiments on real and artificial elevation maps with complex visibility constraints are presented and demonstrate the feasibility and scalability of the approach. The algorithms used for the experiments are made available on a public repository.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013
Series
Robotics and Automation (ICRA), 2013 IEEE International Conference on, ISSN 1050-4729
Keyword
autonomous aerial vehicles;collision avoidance;helicopters;multi-robot systems;trajectory control;2D environment;2D sweep lines;ROS framework;UAV trajectory;coordinated unmanned aerial vehicle team;guaranteed search;low cost coordination strategies;multiply-connected 2.5D environment;public repository;quadrotors;robot operating system;simply-connected polygonal environment;sweep line motion;trajectory computing;Contamination;Robot sensing systems;Search problems;Shape;Trajectory;Unmanned aerial vehicles
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-87291 (URN)10.1109/ICRA.2013.6630990 (DOI)000337617302148 ()978-1-4673-5641-1 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA 2013)
Projects
ELLIIT; CADICS; CUAS; SHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-01-15 Created: 2013-01-15 Last updated: 2018-01-11
Kolling, A. & Kleiner, A. (2013). Multi-UAV Trajectory Planning for Guaranteed Search. In: Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013): . Paper presented at 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013) (pp. 79-86).
Open this publication in new window or tab >>Multi-UAV Trajectory Planning for Guaranteed Search
2013 (English)In: Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), 2013, p. 79-86Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of detecting all moving and evading targets in 2.5D environments with teams of UAVs. Targets are assumed to be fast and omniscient while UAVs are only equipped with limited range detection sensors and have no prior knowledge about the location of targets. We present an algorithm that, given an elevation map of the environment, computes synchronized trajectories for the UAVs to guarantee the detection of all targets. The approach is based on coordinating the motion of multiple UAVs on sweep lines to clear the environment from contamination, which represents the possibility of an undetected target being located in an area. The goal is to compute trajectories that minimize the number of UAVs needed to execute the guaranteed search. This is achieved by converting 2D strategies, computed for a polygonal representation of the environment, to 2.5D strategies. We present methods for this conversion and consider cost of motion and visibility constraints. Experimental results demonstrate feasibility and scalability of the approach. Experiments are carried out on real and artificial elevation maps and provide the basis for future deployments of large teams of real UAVs for guaranteed search.

National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-87289 (URN)978-1-4503-1993-5 (ISBN)
Conference
12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013)
Projects
ELLIIT; CADICS; CUAS; SHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-01-16 Created: 2013-01-15 Last updated: 2018-01-11Bibliographically approved
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