Autonomous Exploration and Mapping System Using Heterogeneous UAVs and UGVs in GPS-Denied Environments

A survey on multi-robot coverage path planning for model reconstruction and mapping

“…Most of the work presented in the literature utilize homogeneous type of robots and sensors such as the work presented in [28,40,69,84] which limits the coverage dimensionality. Few papers utilized heterogeneous type of robots and sensors as in [45,48,49,64]. 2.…”

“…The objective of service vehicles is to optimally cover the terrain by spreading out over the environment of interest. Similarly, the work in [64] proposed a two layered exploration approach including coarse exploration layer performed by UGV, and fine mapping layer performed by UAVs in GPS denied environment. The UGV starts exploring the area of interest using 3D laser to create a rough 2.5D volumetric map using SLAM, which is then used by the UAV to update occupancy data of the gaps using 2D tilting laser.…”

“…Taking into consideration all the one-to-one coordinations between neighboring UAVs distributes the whole team efficiently. The work in [64] performed decentralized exploration using UGV and UAV platforms where each one of them updates their map and navigation on their own then share it with the other vehicle.…”

Seguimento de Caminho Usando Espaço Nulo para uma Formação VANT-VTNT

“…Tais aplicações podem incluir transporte de cargas, como em (Meissen et al, 2017), (Shirani et al, 2019) e (Villa et al, 2019), em que a própria forma da carga pode ser determinante para o uso de um grupo de robôs (Villa et al, 2019), e mapeamento deáreas, como em (Kim et al, 2014), (Lyu et al, 2015) e (Qin et al, 2019), entre outras. Além disso, o uso de grupos de robôs viabiliza a redundância de informação, garantindo a execução da tarefa mesmo diante da falha de algum robô, comoé o caso em (Ernandes-Neto et al, 2019), ou da diversidade no ambiente de atuação, como em (Sharma and Kumar, Trabalho financiado pelo CNPq -Conselho Nacional de Desenvolvimento Científico e Tecnológico, e pela FAPES -Fundação de Amparoà Pesquisa e Inovação do Espírito Santo.…”

Rao-Blackwellized Posterior Linearization Backward SLAM

“…Simultaneous localisation and mapping (SLAM) consists of inferring the states of a mobile agent and static landmarks based on sensor measurements, which can be taken by the mobile agent and/or the landmarks, depending on the application. SLAM was developed in the robotics area [1] but also has important applications in related fields such as computer vision [2], [3], autonomous driving [4], unmanned aerial vehicles [5], and target tracking and localisation [6], [7]. With the widespread use of smartphones and ubiquitous radio beacons, such as Wi-Fi access points, Bluetooth beacons and radio-frequency identification (RFID) tags [8]- [13], SLAM techniques can also be used to localise a smartphone (agent) and map these signal sources (landmarks).…”