UAV assisted USV visual navigation for marine mass casualty incident response

Xiao, Xuesu; Dufek, Jan; Woodbury, Tim; Murphy, Robin R.

doi:10.1109/iros.2017.8206510

Cited by 89 publications

(54 citation statements)

References 18 publications

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“…Nevertheless, they considered only the position of members in the formation, and paid no attention to the tracking accuracy of each USV with regard to the expected path [15]. Xiao et al (2017) proposed a combination of unmanned aerial vehicle (UAV) and USV for maritime search and rescue. In the combination, UAV could provide a wider range of vision to enhance the situation perceptibility of USV.…”

Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

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Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

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“…Murphy et al () made use of a piloted UAV to localise a piloted USV that was operating in a global positioning system‐denied environment. Similarly, Xiao et al () used a piloted UAV to identify targets from a birds‐eye vantage point, which was used as waypoint information for a rescue task enabled ASV.…”

Section: Amv Fleetsmentioning

confidence: 99%

“…A fleet has a wider range of capabilities and actions, which can be staged in multiple locations within timeframes that would be physically impossible for a solo vehicle to do. Xiao, Dufek, Woodbury, and Murphy () provide a good example of this type of mission scope enhancement by using a UAV to identify rescue targets for an ASV specialised for lifesaving capabilities to navigate towards.…”

Section: Introductionmentioning

confidence: 99%

Review of mission planning for autonomous marine vehicle fleets

Thompson

Guihen

2018

Journal of Field Robotics

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The deployment of a fleet of autonomous marine vehicles (AMVs) allows for the parallelisation of missions, intervehicle support for longer deployment times, adaptability and redundancy to in situ mission changes, and effective use of the right vehicle for the right purpose. End users and operators of AMVs face challenges in planning complex missions due to the limitations of their vehicles, dynamic, operationally constrictive, and unstructured environments, and in minimising risks to equipment, the mission, and personnel. Automated mission planning for AMV fleets can be a tool to reduce the complexity of programming vehicle tasking, and to perform validity assessments for end user-specified goals, allowing the operator to focus on risk assessment. We present a critical review of the current advances in automated planning for AMV fleets, investigating the limitations of available state-ofthe-art tools and providing a road map of the goals and challenges based on analysis of field reports and end user initiatives.

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“…They also provide extra safety margins and are in accordance with certain authority requirements [4], [5]. Due to such advantages, tethered UAVs have also been paired with Unmanned Ground Vehicles (UGVs) [6] or Unmanned Surface Vehicles (USVs) [7], [8] to increase the primary robot's or the human operator's situational awareness. In particular, a tethered UAV was used to replace teleoperated visual assistant to provide primary robot's operator with better third-person visual feedback and thus improved situational awareness (Fig.…”

Section: Introductionmentioning

confidence: 99%

Motion Planning for a UAV with a Straight or Kinked Tether

Xiao

Dufek

Sahmoudi

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their advantages such as power duration, stability, and safety. However, the disadvantages brought in by the extra tether have not been well investigated by the robotic locomotion community, especially when the tethered agent is locomoting in a non-free space occupied with obstacles. In this work, we propose two motion planning frameworks that (1) reduce the reachable configuration space by taking into account the tether and (2) deliberately plan (and relax) the contact point(s) of the tether with the environment and enable an equivalent reachable configuration space as the non-tethered counterpart would have. Both methods are tested on a physical robot, Fotokite Pro. With our approaches, tethered aerial vehicles could find their applications in confined and cluttered environments with obstacles as opposed to ideal free space, while still maintaining the advantages from the usage of a tether. The motion planning strategies are particularly suitable for marsupial heterogeneous robotic teams, such as visual servoing/assisting for another mobile, tele-operated primary robot.

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UAV assisted USV visual navigation for marine mass casualty incident response

Cited by 89 publications

References 18 publications

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Review of mission planning for autonomous marine vehicle fleets

Motion Planning for a UAV with a Straight or Kinked Tether

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