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Risk-Aware Path Planning for Ground Vehicles using Occluded Aerial Images [article]

Vishnu Dutt Sharma, Pratap Tokekar
2022 arXiv   pre-print
We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles.  ...  Therefore, we extract uncertainty in these predictions and use a risk-aware approach that takes these uncertainties into account for path planning.  ...  [18] present a risk-aware planning framework for aerial images using the dropoutbased approach [15] .  ... 
arXiv:2104.11709v3 fatcat:7utod7h4avb2jdvm77bue4dz54

Tethered Aerial Visual Assistance [article]

Xuesu Xiao, Jan Dufek, Robin R. Murphy
2020 arXiv   pre-print
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV)  ...  in a risk-aware manner through unstructured or confined spaces with a tether.  ...  For the focus of this research, autonomous visual assistance, a 3-D map is provided by the primary robot's LiDAR, and a risk-aware path is planned using a pre-established viewpoint quality map (discussed  ... 
arXiv:2001.06347v1 fatcat:bxzdwozu3nhtnjpvofutszpdjq

Design and development of ground station for UAV/UGV heterogeneous collaborative system

Xiao Liang, Shirou Zhao, Guodong Chen, Guanglei Meng, Yu Wang
2021 Ain Shams Engineering Journal  
Unmanned Aerial Vehicle/Unmanned Ground Vehicle heterogeneous collaborative system can complete complex tasks.  ...  In digital map module, a three-dimensional path planning method based on improved Ant Colony is proposed.  ...  Structure of ground station for Unmanned Aerial Vehicle/ Unmanned ground Vehicle heterogeneous collaborative system The overall structure of the ground station for the Unmanned Aerial Vehicle (UAV) /Unmanned  ... 
doi:10.1016/j.asej.2021.04.025 fatcat:pfrjphzhdbbb7hawtf74yr2scq

Risk-aware Path and Motion Planning for a Tethered Aerial Visual Assistant in Unstructured or Confined Environments [article]

Xuesu Xiao
2020 arXiv   pre-print
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments  ...  Based on those theories, a novel high level path planning algorithm is developed to enable risk-aware planning, which balances the tradeoff between viewpoint quality and motion risk in order to provide  ...  Tether length and number of contacts are specific risk elements for tethered vehicles, for example, our tethered aerial visual assistant.  ... 
arXiv:2007.09595v1 fatcat:gfo6mb75kbc5zkga6kaa54fyj4

Aerial surveillance vehicles augment security at shipping ports

Robert C. Huck, Muhammad K. Al Akkoumi, Samuel Cheng, James J. Sluss, Jr., Thomas L. Landers, Edward M. Carapezza
2008 Unmanned/Unattended Sensors and Sensor Networks V  
This research provides the foundation for a follow-on project to use autonomous aerial surveillance vehicles coordinated with autonomous ground surveillance vehicles for enhanced port security applications  ...  The initial investigation described in this paper demonstrates the use of unmanned aerial surveillance vehicles as a viable method for providing video surveillance of container storage yards.  ...  Aerial Surveillance Vehicle used for the demo project.  ... 
doi:10.1117/12.799752 fatcat:pfysqtbfnnehja4dge3knrnrfm

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
We are certain that all of us will take pleasure in visiting Athens and in travelling through the city's incredible history. We look forward to seeing all of you in Athens.  ...  As such, and if the after the COVID-19 'new normal' will allow, from 2021 onwards, the plan is to organize the conference in Europe, again, Canada, South America, South East Asia, and in the United States  ...  This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Synthetic vision system for improving unmanned aerial vehicle operator situation awareness

Gloria L. Calhoun, Mark H. Draper, Michael F. Abernathy, Michael Patzek, Francisco Delgado, Jacques G. Verly
2005 Enhanced and Synthetic Vision 2005  
The Air Force Research Laboratory's Human Effectiveness Directorate (AFRL/HE) supports research addressing human factors associated with Unmanned Aerial Vehicle (UAV) operator control stations.  ...  The Air Force Research Laboratory's Human Effectiveness Directorate (AFRL/HE) supports research addressing human factors associated with Unmanned Aerial Vehicle (UAV) operator control stations.  ...  OVERVIEW Unmanned Aerial Vehicles (UAVs) are aircraft without the onboard presence of a pilot or crew.  ... 
doi:10.1117/12.603421 fatcat:vl4ilvrdxvbfjdq6ru4qvwvsaa

Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments [chapter]

Alonzo Kelly, Omead Amidi, Mike Bode, Mike Happold, Herman Herman, Tom Pilarski, Pete Rander, Anthony Stentz, Nick Vallidis, Randy Warner
2006 Springer Tracts in Advanced Robotics  
Autonomous ground vehicles were deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications  ...  Our efforts over the three year program have produced new approaches in planning, perception, localization, and control which have been driven by the quest for reliable operation in challenging environments  ...  Platform Design Intuitively, for global planning purposes, given a choice between the view of a ground vehicle or an air vehicle, the aerial view would be preferred due to its broader viewing range and  ... 
doi:10.1007/11552246_57 fatcat:tofgrhjygjfr3jxn3a3o6nodta

Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments

Alonzo Kelly, Anthony Stentz, Omead Amidi, Mike Bode, David Bradley, Antonio Diaz-Calderon, Mike Happold, Herman Herman, Robert Mandelbaum, Tom Pilarski, Pete Rander, Scott Thayer (+2 others)
2006 The international journal of robotics research  
Autonomous ground vehicles were deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications  ...  Our efforts over the three year program have produced new approaches in planning, perception, localization, and control which have been driven by the quest for reliable operation in challenging environments  ...  Platform Design Intuitively, for global planning purposes, given a choice between the view of a ground vehicle or an air vehicle, the aerial view would be preferred due to its broader viewing range and  ... 
doi:10.1177/0278364906065543 fatcat:aetjtoz6mfauvmrln5eona57he

Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration [article]

Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, J. Sean Humbert
2021 arXiv   pre-print
Team MARBLE proposes a solution for autonomous exploration of unknown subterranean environments in which coordinated agents search for artifacts of interest.  ...  DARPA is seeking to change that with the Subterranean Challenge, by providing roboticists the opportunity to support civilian and military first responders in complex and high-risk underground scenarios  ...  Thank you to the Colorado School of Mines and the Edgar Experimental Mine for allowing us to conduct mock deployments in the mine.  ... 
arXiv:2110.04390v1 fatcat:53a4flk2jrhbdkhmxfvipf4m2a

Lidar Data Reduction for Unmanned Systems Navigation in Urban Canyon

Alfred K. Mayalu, Kevin Kochersberger, Barry Jenkins, François Malassenet
2020 Remote Sensing  
This paper introduces a novel protocol for managing low altitude 3D aeronautical chart data to address the unique navigational challenges and collision risks associated with populated urban environments  ...  In this approach, the navigation cells themselves are used to represent the intrinsic positional uncertainty often needed for navigation.  ...  (b) Image of unmanned ground vehicle, Jackal by Clearpath robotics. Figure 4 . 4 (a) Visual image of FTIG from view angle of unmanned aircraft.  ... 
doi:10.3390/rs12111724 fatcat:6dkjsj3wl5hhrm3b43xej3p6zm

Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
2017 Journal of Intelligent and Robotic Systems  
The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends.  ...  During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http:// creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution  ... 
doi:10.1007/s10846-017-0483-z fatcat:2abqia3mlnedrlonxhlsjanffy

RISK ASSESSMENT OF STEEP SLOPE USING DRONE MAPPING AND TERRESTRIAL LIDAR IN KOREA

S. S. Kim, D. Y. Kim, H. Nho
2020 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
This paper presents experimental results for risk assessment of steep slope using drone mapping and terrestrial LiDAR survey.  ...  Finally, we evaluated the applicability of public safety for outputs of UAV photogrammetry and 3D point clouds derived from terrestrial LiDAR data to analyse and assess the risk of steep slope.  ...  ACKNOWLEDGEMENTS This research outputs are part of the project "Development of forensic techniques for Disaster Scientific Investigation", which is supported by the NDMI (National Disaster Management research  ... 
doi:10.5194/isprs-archives-xliv-3-w1-2020-81-2020 fatcat:6lcjo4df6jccjhhtlnizw35olq

An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement

Luis Merino, Fernando Caballero, J. Ramiro Martínez-de-Dios, Iván Maza, Aníbal Ollero
2011 Journal of Intelligent and Robotic Systems  
The paper presents an Unmanned Aircraft System (UAS) for forest fire monitoring, consisting of several aerial vehicles and a central station.  ...  Moreover, it is shown how multiple aerial vehicles can collaborate in this application, allowing to cover bigger areas or to obtain complementary views of a fire.  ...  The paper deals with path planning activities, and provides simulations using a six degree of freedom dynamic model for the vehicles and a numerical propagation model for the forest fire.  ... 
doi:10.1007/s10846-011-9560-x fatcat:picyh73gkvh5lb32r3lcavxxsa

An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement [chapter]

Luis Merino, Fernando Caballero, J. Ramiro Martínez-de-Dios, Iván Maza, Aníbal Ollero
2011 Recent Developments in Unmanned Aircraft Systems  
The paper presents an Unmanned Aircraft System (UAS) for forest fire monitoring, consisting of several aerial vehicles and a central station.  ...  Moreover, it is shown how multiple aerial vehicles can collaborate in this application, allowing to cover bigger areas or to obtain complementary views of a fire.  ...  The paper deals with path planning activities, and provides simulations using a six degree of freedom dynamic model for the vehicles and a numerical propagation model for the forest fire.  ... 
doi:10.1007/978-94-007-3033-5_37 fatcat:lndritizanf6jgzfsdypuzda7i
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