A Framework for a Cooperative UAV-UGV System for Path Discovery and Planning

Lakas, Abderrahmane; Belkhouche, Boumediene; Benkraouda, Omar; Shuaib, Amin; Alasmawi, Hussain

doi:10.1109/innovations.2018.8606028

Cited by 30 publications

(18 citation statements)

References 9 publications

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“…However, the environmental constraints are neglected, which is not realistic and can disturb the right functionality of this scheme. To overcome this problem, Lakas et al [107] proposed an approach considering the existing ground obstacles. In fact, it is based on a UAV incorporating a camera and collecting images of the surrounding areas with the aim to assist the UGV to reach its final destination while avoiding existing obstructions on the ground.…”

Section: A Path Planningmentioning

confidence: 99%

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UAV assistance paradigm: State-of-the-art in applications and challenges

Alzahrani

Oubbati

Barnawi

et al. 2020

Journal of Network and Computer Applications

329

128

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Unmanned Aerial Vehicles (UAVs) are an emerging technology with the potential to be used in industries and various sectors of human life to provide a wide range of applications and services. During the last decade, there has been a growing focus of research in the UAV's assistance paradigm as a fundamental concept resulting in the constant improvement between different kinds of ground networks and the hovering UAVs in the sky. Recently, the wide availability of embedded wireless interfaces in the communicating entities has allowed the deployment of such a paradigm simpler and easiest. Moreover, due to UAVs' controlled mobility and adjustable altitudes, they can be considered as the most appropriate candidate to enhance the performance and overcome the restrictions of ground networks. This comprehensive survey both studies and summarizes the existing UAV-assisted research, such as routing, data gathering, cellular communications, Internet of Things (IoT) networks, and disaster management that supports existing enabling technologies. Descriptions, classifications, and comparative studies related to different UAV-assisted proposals are presented throughout the paper. By pointing out numerous future challenges, it is expected to simulate research in this emerging and hot research area. To the best of our knowledge, there are many survey papers on the topic from a technology perspective. Nevertheless, this survey can be considered as the first attempt at a comprehensive analysis of different types of existing UAV-assisted networks and describes the state-of-the-art in UAV-assisted research.

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Section: A Path Planningmentioning

confidence: 99%

“…Ref. [107] Single UAV/Mobile Single UGV Post-disaster area Assisting the UGV by cooperatively plan its trajectories to reach the target destination Successfully mapped the explored area for the UGV by using multiple techniques.…”

Section: Path Planningmentioning

confidence: 99%

UAV assistance paradigm: State-of-the-art in applications and challenges

Alzahrani

Oubbati

Barnawi

et al. 2020

Journal of Network and Computer Applications

329

128

View full text Add to dashboard Cite

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“…Valenti et al [ 22 ] presents a computer vision system based on the exploitation of visual information about 3D surroundings of the UAV that is the basis to find a precise localization and the shortest path to reach the goal using a simultaneous localization and mapping (SLAM) fashion. Computer vision is a well-established technique that supports the use of cooperative UAVs and UGVs (unmanned ground vehicles) to obtain complementary points of view of the scene for path discovery [ 23 ]. Other algorithms use the BIM (building information modeling) models [ 24 ] to create the graph and then calculate the paths.…”

Section: Introductionmentioning

confidence: 99%

Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

González-deSantos

Frías

Martínez-Sánchez

et al. 2021

Sensors

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Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

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“…Third, there are solutions on-line supporting the unmanned ground vehicle (UGV) in path planning by processed information from the UAV images (free paths, obstacles etc.) (Lakas et al, 2018), (Peterson et al, 2018). Another related source discusses the tracking of an UGV by a UAV considering changes in UGV speed and heading but constant UAV speed (Lee et al, 2003).…”

Section: Introductionmentioning

confidence: 99%

The Forerunner UAV Concept for the Increased Safety of First Responders

Nagy

Bauer

Hiba

et al. 2021

Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems

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This paper proposes a novel Forerunner UAV concept to increase the safety of first responders by monitoring the road in front of their emergency ground vehicle (EGV) and notifying the driver about any violation of his/her right of way or approaching danger. The developments are conducted in an R&D project in Hungary. The proposed UAV for the planned urban demonstration is a hexacopter with triple redundant architecture applying a gimbaled camera to monitor the surroundings. In the cooperative control of the EGV and UAV the UAV must fly in front of the EGV which is possible through wireless communication of route data and velocity. Besides the real system a computer simulation representation is also applied including CARLA and Matlab to make exhaustive tests of the system capabilities. Increased attention is devoted to the possible wireless communication solutions as these are safety critical parts of the system. The article ends with the lists of planned simulation and real test scenarios to evaluate the system.

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A Framework for a Cooperative UAV-UGV System for Path Discovery and Planning

Cited by 30 publications

References 9 publications

UAV assistance paradigm: State-of-the-art in applications and challenges

UAV assistance paradigm: State-of-the-art in applications and challenges

Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

The Forerunner UAV Concept for the Increased Safety of First Responders

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