Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization

Pritzl, Václav; Vrba, Matouš; Štěpán, Petr; Saska, Martin

doi:10.1109/icuas54217.2022.9836116

Cited by 16 publications

(12 citation statements)

References 52 publications

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“…Our approach is similar to the other teams' as we also use primarily LiDAR for localization and mapping. An improvement over the state of the art is the compensation of the delay (Pritzl et al, 2022a) caused by the LiDAR scan processing and the delay of the localization itself.…”

Section: Localization and Mappingmentioning

confidence: 99%

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

Petrlík¹,

Petráček²,

Krátký³

et al. 2023

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This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-toworld transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations—SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topologicalvolumetric LTVMap for allowing multirobot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation.

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Section: Localization and Mappingmentioning

confidence: 99%

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

Petrlík¹,

Petráček²,

Krátký³

et al. 2023

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“…The battery case is placed on a set of dampers printed out of the TPU 30D filament. Such an approach significantly decreases the vibrations present in the IMU data and enables reliable usage of VIO, whose performance is greatly affected by the propellerinduced vibrations [14,70]. Moreover, a 3D-printed battery holder with 3D-printed bushings can have a variable position based on the appliances attached and a varying center of gravity of the drone.…”

Section: Prototyping Via 3d Printingmentioning

confidence: 99%

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Heřt

Báča

Petráček

et al. 2023

J Intell Robot Syst

Self Cite

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This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

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“…Firstly, inertial guidance technology plays a significant role in UAV navigation. As advancements continue in different types of inertial guidance technology and computer systems, future research will concentrate on developing smaller, lower-power consumption inertial guidance systems that are wellsuited for UAV payloads [114]. Additionally, efforts will be made to enhance the accuracy of the technology to achieve higher levels of precision.…”

Section: Navigation Systemmentioning

confidence: 99%

Applications, Evolutions, and Challenges of Drones in Maritime Transport

Wang,

Zhou,

Xing

et al. 2023

JMSE

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The widespread interest in using drones in maritime transport has rapidly grown alongside the development of unmanned ships and drones. To stimulate growth and address the associated technical challenges, this paper systematically reviews the relevant research progress, classification, applications, technical challenges, and possible solutions related to the use of drones in the maritime sector. The findings provide an overview of the state of the art of the applications of drones in the maritime industry over the past 20 years and identify the existing problems and bottlenecks in this field. A new classification scheme is established based on their flight characteristics to aid in distinguishing drones’ applications in maritime transport. Further, this paper discusses the specific use cases and technical aspects of drones in maritime rescue, safety, navigation, environment, communication, and other aspects, providing in-depth guidance on the future development of different mainstream applications. Lastly, the challenges facing drones in these applications are identified, and the corresponding solutions are proposed to address them. This research offers pivotal insights and pertinent knowledge beneficial to various entities such as maritime regulatory bodies, shipping firms, academic institutions, and enterprises engaged in drone production. This paper makes new contributions in terms of the comprehensive analysis and discussion of the application of drones in maritime transport and the provision of guidance and support for promoting their further development and integration with intelligent transport.

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Cooperative Navigation and Guidance of a Micro-Scale Aerial Vehicle by an Accompanying UAV using 3D LiDAR Relative Localization

Cited by 16 publications

References 52 publications

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Applications, Evolutions, and Challenges of Drones in Maritime Transport

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