UAV-UGV cooperation for objects transportation in an industrial area

Harik, El Houssein Chouaib; Guérin, Fabrice; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Herve

doi:10.1109/icit.2015.7125156

Cited by 61 publications

(33 citation statements)

References 24 publications

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“…For example, a flying robot can track a ground robot using a QR-code [1], visual markers [2], [3], or edge detection [4]. Other work uses a camera on a ground robot to track LEDs on a flying robot [5], [6].…”

Section: A Related Workmentioning

confidence: 99%

Collaborative localization of aerial and ground robots through elevation maps

Käslin¹,

Fankhauser²,

Stumm³

et al. 2016

2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Collaboration between aerial and ground robots can benefit from exploiting the complementary capabilities of each system, thereby improving situational awareness and environment interaction. For this purpose, we present a localization method that allows the ground robot to determine and track its position within a map acquired by a flying robot. To maintain invariance with respect to differing sensor choices and viewpoints, the method utilizes elevation maps built independently by each robot's onboard sensors. The elevation maps are then used for global localization: specifically, we find the relative position and orientation of the ground robot using the aerial map as a reference. Our work compares four different similarity measures for computing the congruence of elevation maps (akin to dense, image-based template matching) and evaluates their merit. Furthermore, a particle filter is implemented for each similarity measure to track multiple location hypotheses and to use the robot motion to converge to a unique solution. This allows the ground robot to make use of the extended coverage of the map from the flying robot. The presented method is demonstrated through the collaboration of a quadrotor equipped with a downward-facing monocular camera and a walking robot equipped with a rotating laser range scanner. Abstract-Collaboration between aerial and ground robots can benefit from exploiting the complementary capabilities of each system, thereby improving situational awareness and environment interaction. For this purpose, we present a localization method that allows the ground robot to determine and track its position within a map acquired by a flying robot. To maintain invariance with respect to differing sensor choices and viewpoints, the method utilizes elevation maps built independently by each robot's onboard sensors. The elevation maps are then used for global localization: specifically, we find the relative position and orientation of the ground robot using the aerial map as a reference. Our work compares four different similarity measures for computing the congruence of elevation maps (akin to dense, image-based template matching) and evaluates their merit. Furthermore, a particle filter is implemented for each similarity measure to track multiple location hypotheses and to use the robot motion to converge to a unique solution. This allows the ground robot to make use of the extended coverage of the map from the flying robot. The presented method is demonstrated through the collaboration of a quadrotor equipped with a downward-facing monocular camera and a walking robot equipped with a rotating laser range scanner.

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Section: A Related Workmentioning

confidence: 99%

Collaborative localization of aerial and ground robots through elevation maps

Käslin¹,

Fankhauser²,

Stumm³

et al. 2016

2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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show abstract

“…Drones have become an emerging technology with sensing, processing, storage, and communication capabilities. They can be used in different industries such as intelligent transportation systems, smart cities, [2][3][4][5][6] and Internet of things (IoT) scenarios. 7 The deployment of swarm of drones for IoT services has become reality for various applications such as package delivery, 8 public safety, 9 search and rescue, 10 tracking, and surveillance.…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired clustering scheme for Internet of Drones application in industrial wireless sensor network

Aftab

Khan

Zhang

2019

International Journal of Distributed Sensor Networks

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Recent technological improvements have revolutionized the wireless sensor network-based industrial sector with the emergence of Internet of Things. Internet of Drones, a branch of Internet of Things, is used for the communication among drones. As drones are mobile in nature, they cause frequent topological changes. This changing topology causes scalability, stability, and route selection issues in Internet of Drones. To handle these issues, we propose a bio-inspired clustering scheme using dragonfly algorithm for cluster formation and management. In this article, we propose cluster head election based on the connectivity with the base station along with the fitness function which consists of residual energy and position of the drones. Furthermore, for route selection we propose an optimal path selection based on the residual energy and position of drone for efficient communication. The proposed scheme shows better results as compared to other bio-inspired clustering algorithms on the basis of evaluation benchmarks such as cluster building time, network energy consumption, cluster lifetime, and probability of successful delivery. The results indicate that the proposed scheme has improved 60% and 38% with respect to ant colony optimization and grey wolf optimization, respectively, in terms of average cluster building time while average energy consumption has improved 23% and 33% when compared to the ant colony optimization and grey wolf optimization, respectively.

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“…Their popularity is further promoted by remote control capabilities that can reduce the aircraft operator's exposure to dangerous environments for various forms of documentation and investigation. Potential applications include search and rescue [3][4][5], civil engineering [6], agriculture [7][8][9], wildlife conservation [10][11][12], and infrastructure inspection [13][14][15][16][17], as well as transportation [18]. More use cases are shown in figure 1.…”

Section: Introductionmentioning

confidence: 99%

State of Technology Review of Civilian UAVs

Chen¹,

Laefer

Mangina³

2016

ENG

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Background: Unmanned Aerial Vehicle (UAV) technology has exploded in recent years. Presently UAVs are beginning to be major in roads into geographical mapping, site inspection, agriculture, and search and rescue. Methods: This paper reviewed patents and papers worldwide related to both hard-ware and software for the construction and deployment of UAVs and is intended to provide a snapshot of currently available UAV technologies, as well as to identify recent trends and future opportunities in affiliated hardware and software. Results: Basic components related to self-designed units are explained (e.g. plat-form selection, autopilot control comparison and sensor selection), and current applications and research areas are discussed. Since autonomous navigation is a key technology in UAV applications, concepts about this are also explained. Conclusions: Both in the self-designed and commercial markets, UAV components are becoming modularized. By following a standard components list, it is no longer difficult to make a customised UAV. In this way, commercial products are becoming cheaper and more standardized in their performance. Current limitations of UAVs have also become more readily detectible. Extending the flight time, im-proving autonomous navigation abilities, and enriching the payload capacity will be the future research focus to address these limitations.

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UAV-UGV cooperation for objects transportation in an industrial area

Cited by 61 publications

References 24 publications

Collaborative localization of aerial and ground robots through elevation maps

Collaborative localization of aerial and ground robots through elevation maps

Bio-inspired clustering scheme for Internet of Drones application in industrial wireless sensor network

State of Technology Review of Civilian UAVs

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