Deploying Air-Ground Multi-Robot Teams in Urban Environments

Chaimowicz, Luiz; Cowley, Anthony; Gomez-Ibañez, Daniel; Grocholsky, Ben; Hsieh, M. Ani; Hsu, Hwa-Chow; Keller, James F.; Kumar, Vijay; Swaminathan, Ram; Taylor, Camillo J.

doi:10.1007/1-4020-3389-3_18

Cited by 61 publications

(33 citation statements)

References 7 publications

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“…[35] presented some of the efforts that had been done by the GRASP Laboratory of University of Pennsylvania for deploying teams of UAVs and UGVs in urban environments as part of the MARS2020 project. Sponsored by Defence Advanced Research Projects Agency (DARPA), this project focused on the development of critical technologies required to realize network-centric control of heterogeneous platforms that is strategically responsive, survivable and sustainable for reconnaissance, surveillance or search and rescue type missions.…”

Section: Searching and Localizationmentioning

confidence: 99%

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

Duan

Liu

2010

Sci. China Technol. Sci.

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Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed. Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles, and enhance the effectiveness of implementing detection, search and rescue tasks. This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation, including heterogeneous flocking, formation control, formation stability, network control, and actual applications. The main problems and future directions in this field were also analyzed in detail. These innovative technologies can significantly enhance the effectiveness of implementing complicated tasks, which definitely provide a series of novel breakthroughs for the intelligence, integration and advancement of future robot systems. unmanned air vehicle (UAV), unmanned ground vehicle (UGV), heterogeneous cooperation Citation:Duan H B, Liu S Q. Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects.

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Section: Searching and Localizationmentioning

confidence: 99%

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

Duan

Liu

2010

Sci. China Technol. Sci.

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“…By collaborating with ground vehicles it is then possible to expand the tasks, as a more detailed search can be conducted. Parker et al and Hseih et al [4], [5] UAV to aid ground rovers in an urban environment. UAV navigation can be achieved through a Global Positioning System (GPS), however, in environments such as for a Mars Rover or when operating indoors this is an asset which is unavailable.…”

Section: A Backgroundmentioning

confidence: 99%

“…Therefore it mus be install separately to a generic laptop which can then be used to compile code for the ARM Cortex A8 processor. Such a compiler is readily available and can easily be configured to be used within any environment 3,4 . This allows the kernel to be recompiled producing a Universal Video device driver, "uvcvideo.ko", which can be inserted autonmatically on boot to provide USB Video support 5 .…”

Section: Scenario Descriptionmentioning

confidence: 99%

Symbiotic relationship between robots — a ROS ARDrone/YouBot library

Aitken

McAree

Veres

2016

2016 UKACC 11th International Conference on Control (CONTROL)

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Abstract-A Symbiotic relationship between robots is theoretically developed. It is characterised by sharing sensory information and tightly coordinating operational logic by taking care of each other's needs during missions. The system is characterised by an intertwined reasoning system while having separate conditioning and execution of plans to achieve subgoals to support each other. The results are illustrated on strong operational inter-dependence of a rover and a drone through shared logical inference. The drone uses the rover as a landing pad and the rover uses the drone to complements its sensor system by information gathering. There is a GitHub library provided in association with the demonstration for generic use of adding cameras and cooperation logic to a AR.Drone 2.0 and a KUKA youBot system. The benefits of symbiotic relationship are quantitatively evaluated on the demonstration example.

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“…The systems are increasingly being used in environments that are inaccessible or dangerous to humans (Stoeter et al, 2002;Chaimowicz et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Adaptable User Interface Based on the Ecological Interface Design Concept for Multiple Robots Operating Works with Uncertainty

Furukawa¹

2010

Journal of Computer Science

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Problem statement: When supervising a team of semi-autonomous robots, the operator's task is not only the manipulation of each robot but also achievement of the top goal that is assigned to the entire team of humans and robots. The operators are demanded to comprehend highly complex states and make appropriate decisions in dynamic environment using the limited cognitive resources. The Ecological Interface Design (EID) is a design approach based on visualization of constraints in study environment onto the interface to reduce the cognitive workload. Our research question was "How should we design Human-Robot Interface (HRI) that allows operators to understand states of multiple robots systems working in environment with uncertainty?" Approach: Our proposed method was Adaptable User Interface (AUI) with EID. The interface is a framework that allowed the operators to take selectable use of displays indicating different types of functional information. Two types of expressions of functions were defined for indicating states of functions: indication of functional disposition and of effectiveness. Three cognitive experiments were conducted to reveal potential efficacy of the method using an experimental test-bed simulation. Results: The results of the first and second experiments showed that usefulness of functional indications is different from different works, tasks and operators. The third experiment demonstrated that operators could select and use appropriate information among a set of indicators with different types and levels of functional information, which are adaptive for tasks, their strategies, their skills and available information and knowledge about the tasks. Conclusion: From the remarks, it can be concluded that the proposed method (AUI+EID) is a useful and feasible HRI method for multiple robot operations, even knowledge about the work is not sufficient to build a set of dedicated indicators each has only necessary information for a situation.

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Deploying Air-Ground Multi-Robot Teams in Urban Environments

Cited by 61 publications

References 7 publications

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

Symbiotic relationship between robots — a ROS ARDrone/YouBot library

Adaptable User Interface Based on the Ecological Interface Design Concept for Multiple Robots Operating Works with Uncertainty

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