TY - GEN
T1 - Image-based road network clearing without localization and without maps using a team of UAVs
AU - Gagliardi, Matteo
AU - Oriolo, Giuseppe
AU - Bulthoff, Heinrich H.
AU - Franchi, Antonio
N1 - Publisher Copyright:
© 2014 EUCA.
PY - 2014/7/22
Y1 - 2014/7/22
N2 - We address the problem of clearing an arbitrary and unknown network of roads using an organized team of Unmanned Aerial Vehicles (UAVs) equipped with a monocular down-facing camera, an altimeter, plus high-bandwidth short-range and low-bandwidth long-range communication systems. We allow the UAVs to possibly split in several subgroups. In each subgroup a leader guides the motion employing a hierarchical coordination. A feature/image-based algorithm guides the subgroup toward the unexplored region without any use of global localization or environmental mapping. At the same time all the entry-points of the the explored region are kept under control, so that any moving object that enters or exits the previously cleared area. Simulative results on real aerial images demonstrate the functionalities and the effectiveness of the proposed algorithm.
AB - We address the problem of clearing an arbitrary and unknown network of roads using an organized team of Unmanned Aerial Vehicles (UAVs) equipped with a monocular down-facing camera, an altimeter, plus high-bandwidth short-range and low-bandwidth long-range communication systems. We allow the UAVs to possibly split in several subgroups. In each subgroup a leader guides the motion employing a hierarchical coordination. A feature/image-based algorithm guides the subgroup toward the unexplored region without any use of global localization or environmental mapping. At the same time all the entry-points of the the explored region are kept under control, so that any moving object that enters or exits the previously cleared area. Simulative results on real aerial images demonstrate the functionalities and the effectiveness of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84911478669&partnerID=8YFLogxK
U2 - 10.1109/ECC.2014.6862560
DO - 10.1109/ECC.2014.6862560
M3 - Conference contribution
AN - SCOPUS:84911478669
T3 - 2014 European Control Conference, ECC 2014
SP - 1902
EP - 1908
BT - 2014 European Control Conference, ECC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th European Control Conference, ECC 2014
Y2 - 24 June 2014 through 27 June 2014
ER -