Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - A field experiment

Langerwisch, Marco; Wittmann, Thomas J.; Thamke, Stefan; Remmersmann, Thomas; Tiderko, Alexander; Wagner, Bernd

doi:10.1109/ssrr.2013.6719320

Cited by 21 publications

(13 citation statements)

References 8 publications

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“…Thomas Remmersmann et al [17] designed a control system for real robots to execute C-BML commands in 2010, and proposed a decomposition and planning system for C-BML tasks. Marco Langerwisch et al [18] developed a C-BML command-based control system for UAV and UGV with the Robot Operating System (ROS). In a heterogeneous cluster, UAV and UGV share information through C-BML and completed the corresponding tasks.…”

Section: Literature Review a Coalition Battle Management Languagementioning

confidence: 99%

Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery

et al. 2020

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Unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) have been widely used in delivery. In the context of the COVID-2019, in order to control the development of the epidemic, many places have adopted measures to isolate and close the area once a confirmed case is found. While reducing the contact between people, it also blocks the normal driving of vehicles. Only by changing the traditional logistics and distribution methods can customers who have been in a closed and isolated area for a long time be served. Therefore, we use the Cooperative UGV-UAV to achieve it. In this paper, when commanding cooperative UGV and UAV for emergency resource delivery, we mainly focus on two questions: how to accept the operation order (OPORD) from the commander, how to generate a nested vehicle routing planning. We first employ one intelligent task understanding module to drive the intelligent unmanned vehicles to accept and process the C-BML (Coalition Battle Management Language) formatted OPORD with 5W (what, who, where, why, when) elements. Then, we slove the nested vehicle routing planning problem as a mixed integer linear program (MILP) with the outputs of what is the UGV route, what is the UGV sortie, and how to control the customers' distribution between the UGV and the UAV. Experimental results of random instances and case study show that using the iterative improvement algorithm increase the speed rate of solving more than 10%.

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Section: Literature Review a Coalition Battle Management Languagementioning

confidence: 99%

Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery

et al. 2020

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“…In recent years, wireless sensor networks have been considered for various aspects of environmental monitoring [1][2][3][4][5]. Unmanned aerial vehicles (UAVs) were widely used in military applications such as reconnaissance and surveillance [6][7][8]. With the cost reduction on rotorbased UAVs, more commercial applications have been explored such as shipping, traffic monitoring, and environmental sensing [9][10][11][12][13].…”

Section: Related Workmentioning

confidence: 99%

A case study of an autonomous wireless sensor network system for environmental data collection

Dong

Meyland

Karaomeroglu

2017

Env Prog and Sustain Energy

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This article presents a case study of the design of an autonomous wireless sensor network for environmental monitoring to provide data for understanding the relationships among food, energy, and water systems in suburban areas in Long Island New York. The study focuses on the existing water quality data for the two counties on Long Island, Nassau and Suffolk Counties, to understand the impact of energy and food production on the coastal waters of Long Island Sound and Peconic Bay. The analysis of existing data from the US Environmental Protection Agency database reveals the challenges in using such data to understand the relationships between water quality, weather events and identified point sources of pollutants. Maintaining on-going data collection programs is expensive, time-consuming and personnel intensive which is why this project examines new ways to obtain and utilize environmental data. The researchers propose the design of an autonomous wireless sensor network environmental monitoring system with an optimal sensor placement strategy to identify targeted locations for water quality monitoring. The goal is to provide environmental data that can facilitate a better understanding of the interactions of farming activities and energy production resulting in undesirable impacts on water quality. The proposed design can be used to provide real-time data to help stakeholders improve efficiency in resource management and advance early detection of potential hazardous events. V C

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“…[8], [9]. Also, the recently started European project SHERPA [10] focuses on the interaction and collaboration of humans with both aerial and ground robots in alpine rescue missions.…”

Section: A Collaboration Of Aerial and Ground Robotsmentioning

confidence: 99%

Aerial-guided navigation of a ground robot among movable obstacles

Mueggler

Faessler

Fontana

et al. 2014

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)

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We demonstrate the fully autonomous collaboration of an aerial and a ground robot in a mock-up disaster scenario. Within this collaboration, we make use of the individual capabilities and strengths of both robots. The aerial robot first maps an area of interest, then it computes the fastest mission for the ground robot to reach a spotted victim and deliver a first-aid kit. Such a mission includes driving and removing obstacles in the way while being constantly monitored and commanded by the aerial robot. Our missionplanning algorithm distinguishes between movable and fixed obstacles and considers both the time for driving and removing obstacles. The entire mission is executed without any human interaction once the aerial robot is launched and requires a minimal amount of communication between the robots. We describe both the hardware and software of our system and detail our mission-planning algorithm. We present exhaustive results of both simulation and real experiments. Our system was successfully demonstrated more than 20 times at a trade fair.

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Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - A field experiment

Cited by 21 publications

References 8 publications

Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery

Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery

A case study of an autonomous wireless sensor network system for environmental data collection

Aerial-guided navigation of a ground robot among movable obstacles

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