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2000, IEEE Robotics & Automation Magazine
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2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation
2006, Springer Tracts in Advanced Robotics
2007, Journal of Field Robotics
We present some of the work performed in the GRASP Laboratory with the objective of deploying multi-robot teams in urban environments. Specifically, we focus on three important issues in this type of mission: the development of tools for providing situational awareness, the use of air and ground vehicles for cooperative sensing and the construction of radio maps to keep team connectivity. We describe the main approaches that we have been using for tackling these issues and present some preliminary results from experiments conducted with our team of air and ground vehicles.
2012
Abstract The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems.
in Proceedings of the IEEE 10th International Conference on Frontiers of Information Technology (FIT 2012), 2012.
Traditionally, UAVs and Mobile Robots are viewed as two separate entities. However, upon closer examination of their synergies, a more unified conception of a closely-coupled system of the two could easily justify a view where both are just seen as separable parts of the body of a unitary hybrid symbiotic system – essentially, one robotic entity, whose body parts can separate temporarily, and get together again later. In this paper, we will describe a prototype system consisting of a small-scale indoor pilot version of a much larger outdoors full- scale system, as an illustration of this concept. Such indoor pilot versions have multiple advantages, as we shall show. In our prototype, a mobile robot UGV serves as a transport as well as recharge station for a lightweight quad-rotor UA V , while the UAV serves as a separable long-range vision system for the UGV, providing top-down views of its environment, which are stitched and transformed into maps, and which are utilized towards the navigation of the robot hybrid. Multiple avenues of extension of our system and the concept are also introduced, illustrating the power of the separable-body heterogeneous multi-robot approach.
2006, International Journal of Robotic Research
We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).
2014, Journal of Intelligent & Robotic Systems
2014, Advances in Intelligent Systems and Computing
2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
2002, IEEE Transactions on Robotics and Automation
Page 1. 662 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 18, NO. 5, OCTOBER 2002 Probabilistic PursuitEvasion Games: Theory, Implementation, and Experimental Evaluation René Vidal, Student Member ...
2012
Proceedings of the IEEE
This paper presents recent advances in multiagent sensing and operation in dynamic environments. Technology trends point towards a fusion of wireless sensor networks with robotic swarms of mobile robots. In this paper, we discuss the coordination and collaboration between networked robotic systems, featuring algorithms for cooperative operations such as unmanned aerial vehicles (UAVs) swarming. We have developed cooperative actions of groups of agents such as probabilistic pursuit-evasion game for search and rescue operations, protection of resources, and security applications. We have demonstrated a hierarchical system architecture which provides wide-range sensing capabilities to unmanned vehicles through spatially deployed wireless sensor networks, highlighting the potential collaboration between wireless sensor networks and unmanned vehicles. This paper also includes a short review of our current research efforts in heterogeneous sensor networks, which is being evolved into mobi...
2015, Sensors
2018, Construction Research Congress 2018
For more than a decade, unmanned aerial vehicles (UAVs) have been used on construction job sites for a variety of purposes including structural inspection, and 3D mapping of the site and existing structures. Although the advantages that UAVs have brought to construction are discussed extensively in the literature, applications of other types of unmanned vehicles (UVs) in the construction industry, including unmanned ground vehicles (UGVs), unmanned surface vehicles (USVs) (operating on water surfaces), and unmanned underwater vehicles (UUVs), have received limited attention.
Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for main- tenance in industrial plants. Key prerequisites for the fully autonomous operation of micro aerial vehicles in restricted environments are 3D mapping, real-time pose tracking, obstacle detection, and planning of collision-free trajectories. In this arti- cle, we propose a complete navigation system with a multimodal sensor setup for omnidirectional environment perception. Measurements of a 3D laser scanner are aggregated in egocentric local multiresolution grid maps. Local maps are registered and merged to allocentric maps in which the MAV localizes. For autonomous navi- gation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. We evaluate our approach in a GNSS-denied indoor environment where multiple collision hazards require reliable omnidirectional perception and quick navigation reactions
2012
The book consists of collection of opinions by various authors from different countries and diverse research backgrounds to provide a multi-faceted review of the development of unmanned ground systems (UGS) in military use from different perspectives – to cover both the retrospective and prospective development of UGS as well as the current issues and challenges from military, technical and legal perspectives.
2013, Nature-Inspired Mobile Robotics
2009
This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of the aerial robot to deduce the ground robot’s position the main focus of this paper lies on the indirect usage of the telemetry data of the aerial robot combined with live video images of an onboard camera to realise a registration of local video images with apriori registered orthophotos. This yields to a precise driftless absolute localisation of the unmanned ground vehicle. Experiments with our robotic team (AMOR and PSYCHE) successfully verify this approach.
2011, AIAA Guidance, Navigation, and Control Conference (GNC)
This paper introduces and demonstrates a full hardware testbed for research in multi-agent planning and learning for long-duration missions. The testbed includes an automated battery changing/charging platform and multiple UAV/UGV agents. The planner for each agent was formulated as a decentralised multi-agent Markov decision process and implemented using a distributed solution approach. Learning methods were also included at the agent-level to collect observations and fine-tune planning parameters for the purpose ...
2007, 2007 IEEE Aerospace Conference
2013, 2013 IEEE International Conference on Robotics and Automation
2014, 2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)
2020, Computer Networks
Climate change has introduced significant challenges that can affect multiple sectors, including the agricultural one. In particular, according to the Food and Agriculture Organization of the United Nations (FAO) and the International Telecommunication Union (ITU), the world population has to find new solutions to increase the food production by 70% by 2050.The answer to this crucial challenge is the suitable adoption and utilisation of the Information and Communications Technology (ICT) services, offering capabilities that can increase the productivity of the agrochemical products, such as pesticides and fertilisers and at the same time, they should minimise the functional cost. More detailed, the advent of the Internet of Things (IoT) and specifically, the rapid evolution of the Unmanned Aerial Vehicles (UAVs) and Wireless Sensor Networks (WSNs) can lead to valuable and at the same time economic Precision Agriculture (PA) applications, such as aerial crop monitoring and smart spraying tasks. In this paper, we provide a survey regarding the potential use of UAVs in PA, focusing on 20 relevant applications. More specifically, first, we provide a detailed overview of PA, by describing its various aspects and technologies, such as soil mapping and production mapping as well as the role of the Global Positioning Systems (GPS) and Geographical Information Systems (GIS). Then, we discriminate and analyse the various types of UAVs based on their technical characteristics and payload. Finally, we investigate in detail 20 UAV applications that are devoted to either aerial crop monitoring processes or spraying tasks. For each application, we examine the methodology adopted, the proposed UAV architecture, the UAV type, as well as the UAV technical characteristics and payload.
2008
abstract Both unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs) are being used in increasingly complex roles as this technology matures. There are many proposals for the joint use of UAVs and UGVs working together to achieve mission goals. Due to the spatial perception difficulties commonly reported in UGV operations, it has been postulated that the operation of UGVs could benefit from the use of live aerial views in scenarios where this is possible.
2000, IEEE Transactions on Automatic Control
In recent years, unmanned vehicles have been quite popular for the researchers and that vehicles are still being developed by the researchers and engineers. Unmanned vehicle has to do all operations without operator and has all capabilities as the operator controlled. In this study, tracking of waypoint by autonomous unmanned ground vehicle (UGV) have been studied. For this purpose, designed and constructed unmanned ground vehicle location is obtained by using GPS and compass and the microcontroller is utilized as a control / decision makers. The working principle of unmanned ground vehicle is as follows: At the beginning, waypoints or earth coordinates are loaded to PIC microcontroller, GPS module calculates the new position for every 200 ms to find current angle between North and line between the current position and destination\waypoint. Compass module also calculates the current heading value that shows the angle between north and course. According to this data microprocessor compares the results and chooses the correct angle of servo that controls the direction of UGV. Besides, Kalman filter algorithm and a guidance system was applied to UGV. The tests and results are given at the end of study. This platform will be used as a test vehicle to improve capability of tracking waypoints and path following. Son yıllarda, inansız araçlar araştırmacılar için oldukça popüler hale gelmiştir ve hala bu araçlar araştırmacılar ve mühendisler tarafından geliştirilmektedir. İnsansız araçlar bütün kabiliyetlere sahip olmalı ve yardım almadan bütün işlemleri gerçekleştirmelidir. Bu çalışmada bir insansız kara aracının (İKA) belirli bir konumdan belirtilen varış noktasına otonom gitmesi üzerine çalışılmıştır. Bu amaç için tasarlanan ve geliştirilen insansız kara aracında GPS ve pusula kullanılarak konumu belirlenmiş ve denetim/karar verici olarak da mikrodenetleyiciden faydalanılmıştır. İnsansız kara aracının çalışma çalışma prensibi aşağıdaki gibidir. Başlangıçta varış noktaları (way-points) ve/veya coğrafi koordinatlar mikrodenetleyicinin belleğine yüklenmektedir. GPS modül ile kuzey çizgisi ve anlık konum-varış noktası arasında oluşan açı her 200 ms’de bir hesaplanmaktadır. Böylece İKA’nın konumunu belirlenmektedir. Pusula sensoru de aracın kuzey ile yaptığı açıyı hesaplanmaktadır. Bu bilgilere göre mikrodenetleyici sonuçları karşılaştırıp İKA’nın yönlendirilmesini sağlayan servo motorunun yapacağı doğru açıyı komut olarak göndermektedir. Ayrıca, İKA’ya Kalman filtresi ve bir güdümleme algoritması uygulanmıştır. Çalışmanın sonunda, yapılan deneyler ve sonuçları sunulmuştur. Geliştirilen bu düzenek ile güzergah yolu veya yörüngesi izleme yeteneklerinin geliştirilmesi için test düzeneği olarak kullanılacaktır.
2019
The book consists of a collection of opinions by authors from different countries and with diverse research backgrounds, building on the first two volumes of this project with a multi-faceted review of the development of unmanned ground vehicles (UGVs) in military use. This volume analyses initiatives of the European Union aimed at the digitalisation of the battlefield through research and innovation, as well as the defence research and innovation ecosystem in the Baltic states. It also considers the state of play of development of UGVs in selected countries.
2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
2013, The International Journal of Robotics Research
2001
Abstract: This report presents the findings of a study conducted for the purpose of understanding how unmanned systems can enhance the readiness of US Naval forces. The document presents reasons why unmanned systems should be adopted by the Navy, and makes the case for coordinating the development of unmanned systems technology across all major warfare areas.
2011, Visvesvaraya Technological University
Our project “Unmanned Ground Vehicle” is built to undertake missions like border patrol, surveillance and in active combat both as a standalone unit (automatic) as well as in co-ordination with human soldiers (manual). It is a prototype illustrating the ever expanding need for sophisticated technology and precision driven vehicles catering to the present day needs for a first line of defence. A person from a remote place can comfortably control the motion of the robot wirelessly and in situations where manual control is not prudent, the vehicle is capable of reaching the pre-programmed destination on its own. This defence system of ours has two units- one is the control unit (to control mobility) and the other is the motion tracking unit. Both these units have two modes- Automatic and Manual. This robot would be armed with an automatic weapon mounted onto a turret and a remote operator would be getting a live video feed from the camera to help him manually control both the above mentioned units of the rover. The rover is also capable of automatically tracking movement of objects in its range of vision. The manual modes of the rover are controlled by a human operator and live video is fed back to the base station. The turret will follow the movement of a joystick or a mouse. There is an additional ARMCON controller which helps the soldier on war field to control the rover using wireless modem. The UGV will be controlled by hand gestures which are tracked by the IMU (Inertial Measurement Unit).