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A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles
Linköpings universitet, Tekniska fakulteten. Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem.
Linköpings universitet, Tekniska fakulteten. Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. (APD)ORCID-id: 0000-0002-5500-8494
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
Vise andre og tillknytning
2016 (engelsk)Inngår i: PRIMA 2016: Principles and Practice of Multi-Agent Systems / [ed] Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P., Springer Publishing Company, 2016, s. 110-130Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper describes an overview of a generic framework for collaboration among humans and multiple heterogeneous robotic systems based on the use of a formal characterization of delegation as a speech act. The system used contains a complex set of integrated software modules that include delegation managers for each platform, a task specification language for characterizing distributed tasks, a task planner, a multi-agent scan trajectory generation and region partitioning module, and a system infrastructure used to distributively instantiate any number of robotic systems and user interfaces in a collaborative team. The application focusses on 3D reconstruction in alpine environments intended to be used by alpine rescue teams. Two complex UAV systems used in the experiments are described. A fully autonomous collaborative mission executed in the Italian Alps using the framework is also described.

sted, utgiver, år, opplag, sider
Springer Publishing Company, 2016. s. 110-130
Serie
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 9862
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-130558DOI: 10.1007/978-3-319-44832-9_7ISI: 000388796200007ISBN: 978-3-319-44831-2 (tryckt)OAI: oai:DiVA.org:liu-130558DiVA, id: diva2:953055
Konferanse
PRIMA 2016: Principles and Practice of Multi-Agent Systems
Forskningsfinansiär
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeVINNOVASwedish Research Council
Merknad

Accepted for publication.

Tilgjengelig fra: 2016-08-16 Laget: 2016-08-16 Sist oppdatert: 2018-02-20

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Doherty, PatrickKvarnström, JonasRudol, PiotrWzorek, MariuszConte, GianpaoloBerger, Cyrille

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