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, 2977-2983 p.Conference paper (Refereed)
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. 2977-2983 p.
Robotics and Automation (ICRA), 2013 IEEE International Conference on, ISSN 1050-4729
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
Computer Science Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-87291DOI: 10.1109/ICRA.2013.6630990ISI: 000337617302148ISBN: 978-1-4673-5641-1 (print)OAI: oai:DiVA.org:liu-87291DiVA: diva2:588774
IEEE International Conference on Robotics and Automation (ICRA 2013)
ProjectsELLIIT; CADICS; CUAS; SHERPA
FunderELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025