Switched UAV-UGV Cooperation Scheme for Target Detection

Tanner, Herbert G.

doi:10.1109/robot.2007.364007

Cited by 86 publications

(35 citation statements)

References 28 publications

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“…Cooperation between UAVs and UGVs for target detection and formation holding was proposed by Tanner [40]. Duan and Liu [9] discuss an overview of multiple vehicles collaborating with a focus on military applications.…”

Section: Robot Collaborationmentioning

confidence: 99%

Bird's eye view: Cooperative exploration by UGV and UAV

Hood

Benson

Hamod

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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Section: Robot Collaborationmentioning

confidence: 99%

Bird's eye view: Cooperative exploration by UGV and UAV

Hood

Benson

Hamod

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…There have also been numerous works relating to cooperation between aerial and ground vehicles [13], [14], [15]. Our work is based on the general principles found in these -minimize the amount of information that has to be shared between platforms, maximize the amount of computing that can be performed in a distributed manner, and reduce the load on the operator.…”

Section: Related Workmentioning

confidence: 99%

3-D exploration with an air-ground robotic system

Butzkey

Dornbushy

Likhachevy

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Exploration of unknown environments is an important aspect to fielding teams of robots. Without the ability to determine on their own where to go in the environment, the full potential of robotic teams is limited to the abilities of human operators to deploy them for search and rescue, mapping, or other tasks that are predicated on gaining knowledge from the environment. This is of particular importance in realworld 3-Dimensional (3-D) environments where simple planar assumptions can lead to incomplete exploration, for example, real-world environments have areas underneath overhangs or inside caves. As an additional challenge, when the teams of robots have vastly different capabilities, the planning system must take those into account to efficiently utilize the available assets. In this paper, we present a combined air-ground system for conducting 3-D exploration in cluttered environments. We first describe the hardware and software components of the system. We then present our algorithm for planning 3-D goal locations for a heterogeneous team of robots to efficiently explore a previously unknown environment and demonstrate its applicability in real-world experiments.

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“…Tanner [13] and Grocholsky et al [14] presented systems and algorithms for coordinating aerial and ground vehicles for detecting and locating targets. Sujit and Saripalli [15] studied the problem of exploration to detect targets using an UAV and inspection of the targets with Autonomous Underwater Vehicles.…”

Section: Related Workmentioning

confidence: 99%

Sensor planning for a symbiotic UAV and UGV system for precision agriculture

Tokekar

Hook

Mulla

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We study the problem of coordinating an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) for a precision agriculture application. In this application, the ground and aerial measurements are used for estimating nitrogen (N) levels on-demand across a farm. Our goal is to estimate the N map over a field and classify each point based on N deficiency levels. These estimates in turn guide fertilizer application. Applying the right amount of fertilizer at the right time can drastically reduce fertilizer usage.Towards building such a system, this paper makes the following contributions: First, we present a method to identify points whose probability of being misclassified is above a threshold. Second, we study the problem of maximizing the number of such points visited by an UAV subject to its energy budget. The novelty of our formulation is the capability of the UGV to mule the UAV to deployment points. This allows the system to conserve the short battery life of a typical UAV. Third, we introduce a new path planning problem in which the UGV must take a measurement within a disk centered at each point visited by the UAV. The goal is to minimize the total time spent in traveling and measuring. For both problems, we present constant-factor approximation algorithms. Finally, we demonstrate the utility of our system with simulations which use manually collected soil measurements from the field.

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Switched UAV-UGV Cooperation Scheme for Target Detection

Cited by 86 publications

References 28 publications

Bird's eye view: Cooperative exploration by UGV and UAV

Bird's eye view: Cooperative exploration by UGV and UAV

3-D exploration with an air-ground robotic system

Sensor planning for a symbiotic UAV and UGV system for precision agriculture

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