Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Abstract

Abstract-This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B) the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C) the architecture and hardware of the UAV.

Multi-modal target detection for autonomous wide area search and surveillance

“…With an ever increasing use of remote deployed autonomous systems the problem of reviewing, processing and effectively reporting the sensor information they gather is one of growing significance with notable parallels in ground-based sensor networks [9,10] Prior work in the field is generally limited to the case of automated ground surveillance (the camera network case [9,[11][12][13][14]), isolated to the UAV based detection [5,7,[15][16][17][18] with only very limited wide-scale consideration of multi-platform dual aerial and ground platforms within the same sensing scenario [19,20]. Notably prior work does not address autonomy within this context [19,20] and work considering multi-modal detection is in its infancy [7,17,18]. Of those aerial techniques addressing autonomous target detection most borrow heavily from the state of the art in generalised object detection such as [7,17,21,22] but with often aerial detection specific enhancements (e.g.…”

Operación Remota De Un Robot Móvil Usando Un Teléfono Inteligente

“…Los últimos teléfonos inteligentes ofrecen mayores capacidades multimedia, sensores (acelerómetros), comunicación (Bluetooth, W if i, GP RS/U M T S), ubicación (GP S) y facilidad de programación por lo cual son actualmente los mejores candidatos para servir de interfaz entre las personas y su entorno [6].…”