LiU Electronic Press
Full-text not available in DiVA
Author:
Kleiner, Alexander (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology) (Collaborative Robotics)
Kolling, Andreas (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology) (Collaborative Robotics)
Title:
Guaranteed Search With Large Teams of Unmanned Aerial Vehicles
Department:
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)
Conference:
IEEE International Conference on Robotics and Automation (ICRA 2013)
Publisher: IEEE conference proceedings
Series:
Robotics and Automation (ICRA), 2013 IEEE International Conference on, ISSN 1050-4729
Pages:
2977-2983
Year of publ.:
2013
URI:
urn:nbn:se:liu:diva-87291
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-87291
ISBN:
978-1-4673-5641-1
ISI:
000337617302148
Subject category:
Computer Science
Computer Vision and Robotics (Autonomous Systems)
Keywords(en) :
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
Project:
Artificial Intelligence & Integrated Computer Systems
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.

Research funder:
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from:
2013-01-15
Created:
2013-01-15
Last updated:
2014-08-12
Statistics:
93 hits