Ing. Vojtěch Spurný
presents
Cooperative Autonomous Search, Grasping and Delivering in a Treasure Hunt Scenario by a Team of UAVs
 
On 2018-12-11 15:30 at E112
 
 
The aim of the presentation is to introduce the paper that was accepted in the
Journal of Field Robotics.
This paper addresses the problem of autonomous cooperative localization,
grasping and delivering of colored ferrous objects by a team of unmanned aerial
vehicles (UAVs). In the proposed scenario, a team of UAVs is required to
maximize the reward by collecting colored objects and delivering them to a
predefined location. This task consists of several subtasks such as cooperative
coverage path planning, object detection and state estimation, UAV
self‐localization, precise motion control, trajectory tracking, aerial
grasping and dropping, and decentralized team coordination. The failure
recovery and synchronization job manager is used to integrate all the presented
subtasks together and also to decrease the vulnerability to individual subtask
failures in real‐world conditions. The whole system was developed for the
Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017, where it
achieved the highest score and won Challenge No. 3-Treasure Hunt. This paper
does not only
contain results from the MBZIRC 2017 competition but it also evaluates the
system performance in simulations and field tests that were conducted
throughout the year‐long development and preparations for the competition.
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