SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Musil, Tomáš; Petrlík, Matěj; Saska, Martin

doi:10.1109/lra.2022.3195194

Cited by 13 publications

(7 citation statements)

References 23 publications

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“…The algorithms used for UAV trajectory planners can be specifically divided into three categories based on their functions: static obstacle avoidance algorithms, dynamic trajectory planning algorithms, and global trajectory planning algorithms [25]. During flight, UAVs may encounter various obstacles such as buildings and trees.…”

Section: A Swarm Intelligence Algorithm-based Trajectory Plannermentioning

confidence: 99%

A Patrol Platform Based on Unmanned Aerial Vehicle for Urban Safety and Intelligent Social Governance

Yang,

Ma,

Zhou

2024

IJACSA

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Urban patrols can detect emergencies in a timely manner and collect information, which helps to improve the quality of services in the city and enhance the comfort of residents. This study proposes the use of IoT-based drones for urban patrol tasks, aiming to explore the potential applications of drones in smart city governance. The main technical challenge in the process of urban patrols by drones is how to plan a flight path for them. Therefore, this article first designs a smart patrol system based on drones and Internet of Things (IoT). Meanwhile, as information collection is an important aspect of urban patrol tasks, a mathematical model with the goal of maximizing information collection has been established to provide costeffective patrol services. On this basis, in order to improve the accuracy of crow search algorithm (CSA), differential crow search strategy and variable flight step size are designed. In addition, the Levy flight strategy is introduced into the traditional CSA algorithm, and an improved crow search algorithm (ICSA) is proposed. Finally, a corresponding simulation environment was established based on the actual urban scene and compared with other algorithms. The numerical results indicate that compared with the other three swarm intelligence algorithms, the algorithm designed in this paper has more superiority.

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Section: A Swarm Intelligence Algorithm-based Trajectory Plannermentioning

confidence: 99%

A Patrol Platform Based on Unmanned Aerial Vehicle for Urban Safety and Intelligent Social Governance

Yang,

Ma,

Zhou

2024

IJACSA

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“…To enable the UAV to quickly evaluate the travel time and risk caused by flying near obstacles while also pursuing any given goal, we developed a multilayer graph structure that uses volumetric segmentation and path caching, called SphereMap (Musil et al, 2022). All three layers of the SphereMap are updated near the UAV in every update iteration, which runs at approximately 2 Hz.…”

Section: Spheremapmentioning

confidence: 99%

“…This value is computed by projecting points from the facets of the FacetMap and counting the points that fall into every segment. Further description and analysis of LTVMaps can be found in (Musil et al, 2022). These LTVMaps are shared among robots, and are used for cooperative search planning onboard UAVs, as described in Section 8.3.…”

Section: Ltvmapmentioning

confidence: 99%

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

Petrlík¹,

Petráček²,

Krátký³

et al. 2023

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This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-toworld transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations—SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topologicalvolumetric LTVMap for allowing multirobot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation.

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“…Furthermore, we use different technologies, such as a multi-spectral communication suite, traditional Wi-Fi, and low-power lightweight units based on RFM69HCW. Even bandwidth-intensive data up to 1 MB s −1 , such as maps [53] or images, are transmitted over a 2.3 GHz Mobilicom MCU-30 Lite unit. These communication technologies enable our MRS UAV platforms to share data between robots and base stations.…”

Section: Key Features Of the Mrs Dronementioning

confidence: 99%

“…A low-power lightweight unit based on a RFM69HCW transceiver provides a low bandwidth of 100 B s −1 at 868 MHz or 915 MHz for sharing critical mission data. Bandwidth-intensive data up to 1 MB s −1 , such as maps [53] or images, are transmitted over 2.3 GHz Mobilicom MCU-30 Lite unit. Both technologies implement a meshing solution for ad-hoc connections of arbitrary combinations of deployed robots.…”

Section: Darpa Subterranean Challenge -Sandr Competition In Undergrou...mentioning

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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SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Cited by 13 publications

References 23 publications

A Patrol Platform Based on Unmanned Aerial Vehicle for Urban Safety and Intelligent Social Governance

A Patrol Platform Based on Unmanned Aerial Vehicle for Urban Safety and Intelligent Social Governance

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

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

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