A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Dmytruk, Andriy; Silano, Giuseppe; Bicego, Davide; Licea, Daniel Bonilla; Saska, Martin

doi:10.1109/icuas54217.2022.9836071

Cited by 6 publications

(3 citation statements)

References 24 publications

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“…The aerial platform is capable of systematic radiation mapping, aerial surveillance, and fast proactive localization of compact radiation sources [8,12,88]. Videos of the platform in action are available at the RaDron project web site 28 .…”

Section: Localization Of Radiation Sourcesmentioning

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

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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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Section: Localization Of Radiation Sourcesmentioning

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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“…Cameras are also used to mutually localize the UAVs in the surrounding environment. Further details about tasks and the designed algorithms and software architecture can be found in [52]- [59]. Illustrative videos of the experiments using the MRS UAV platforms are available 17 .…”

Section: Outdoor Real Robot Experimentsmentioning

confidence: 99%

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

Hert,

Baca,

Petracek

et al. 2023

Preprint

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“…At this point, the cross-product-based collision detection strategy needs to be further improved, for example, by adding a line versus face judgment strategy. References [25,26] applies the cross-product to collision detection in 3D space, and the paper [27] extends the application of the cross-product to multi-dimensional space.…”

Section: Cross-product-based Collision Detection Algorithmmentioning

confidence: 99%

Bi‐RRT: An Improved Bidirectional RRT Path Planner for Robot in Two‐Dimensional Space

Wang,

Ju,

et al. 2023

IEEJ Transactions Elec Engng

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Path planning is one of the fundamental issues in the research field of robot. In the last decades, Rapidly‐exploring Random Tree star (RRT*) was one of the chosen path planner for robot with its probabilistically complete. In this paper, an improved bidirectional RRT* path planner for robot is proposed (Bi‐RRT*), which has planned path with safety and smoothly guarantee. The main contributions of this paper include, firstly, combining the backtracking idea of the Quick‐RRT algorithm with the greedy search strategy of the RRT‐Connect algorithm, which can reduce the path cost and improve the operation efficiency of the algorithm. Second, in order to further reduce the running time of the algorithm, a new collision detection algorithm based on cross‐product is proposed to replace the conventional collision detection strategy. To ensure the quality of the path, two post‐processing strategies, path optimization strategy and path smoothing strategy, are proposed. Path optimization strategy is based on triangle inequality, and two optimization methods are proposed to effectively reduce the path cost. The path smoothing strategy based on the Bezier curve improves the continuity of a smooth arc and is better applied to path smoothing. Simulation results for both virtual and real environments show the advantages of combining Quick‐RRT and RRT‐Connect and verify the effectiveness of the proposed collision detection algorithm. Compared with similar algorithms, the proposed Bi‐RRT algorithm has higher operational efficiency, smaller path cost, smoother planned paths, and improved path quality. © 2023 Institute of Electrical Engineer of Japan and Wiley Periodicals LLC.

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A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Cited by 6 publications

References 24 publications

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

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

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

Bi‐RRT: An Improved Bidirectional RRT Path Planner for Robot in Two‐Dimensional Space

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A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Cited by 6 publications

References 24 publications

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

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

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

Bi‐RRT*: An Improved Bidirectional RRT* Path Planner for Robot in Two‐Dimensional Space

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Bi‐RRT: An Improved Bidirectional RRT Path Planner for Robot in Two‐Dimensional Space