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A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles
Linköping University, Faculty of Science & Engineering. Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems.
Linköping University, Faculty of Science & Engineering. Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. (APD)ORCID iD: 0000-0002-5500-8494
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
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2016 (English)In: PRIMA 2016: Principles and Practice of Multi-Agent Systems, Springer Publishing Company, 2016, 110-130 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Springer Publishing Company, 2016. 110-130 p.
Series
Lecture Notes in Computer Science, ISSN 0302-9743 (print), 1611-3349 (online) ; 9862
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:liu:diva-130558DOI: 10.1007/978-3-319-44832-9_7ISI: 000388796200007ISBN: 978-3-319-44831-2 (print)OAI: oai:DiVA.org:liu-130558DiVA: diva2:953055
Conference
PRIMA 2016: Principles and Practice of Multi-Agent Systems
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeVINNOVASwedish Research Council
Note

Accepted for publication.

Available from: 2016-08-16 Created: 2016-08-16 Last updated: 2016-12-27

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