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River mapping from a flying robot: state estimation, river detection, and obstacle mapping
2012
Autonomous Robots
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Overall we can build an accurate 3D obstacle map and a 2D map of the river course and width from light onboard sensing. ...
We describe three key components that use computer vision, laser scanning, inertial sensing and intermittant GPS to estimate the motion of the rotorcraft, detect the river without a prior map, and create ...
Acknowledgements The authors gratefully acknowledge Lyle Chamberlain, and Justin Haines for their feedback and help with hardware. ...
doi:10.1007/s10514-012-9293-0
fatcat:nkv74xudhzbm5j2wsiykm3k6ke
Perception for a river mapping robot
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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We present a multimodal perception system to be used for the active exploration and mapping of a river from a small rotorcraft flying a few meters above the water. ...
Rivers with heavy vegetation are hard to map from the air. ...
CONCLUSIONS AND FUTURE WORK We have described the lightweight perception and state estimation systems required to navigate and map a river from a low-flying rotorcraft. ...
doi:10.1109/iros.2011.6048799
fatcat:guyxjvk62jezvemf4x2aaq62ti
Perception for a river mapping robot
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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We present a multimodal perception system to be used for the active exploration and mapping of a river from a small rotorcraft flying a few meters above the water. ...
Rivers with heavy vegetation are hard to map from the air. ...
CONCLUSIONS AND FUTURE WORK We have described the lightweight perception and state estimation systems required to navigate and map a river from a low-flying rotorcraft. ...
doi:10.1109/iros.2011.6095040
dblp:conf/iros/ChambersANRKCHSS11
fatcat:rncd337d6za5vjihyerwoxx6ae
Special issue on micro-UAV perception and control
2012
Autonomous Robots
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The solution to such perception problems as 3D state estimation and mapping can be computationally demanding due to the need for the continual processing of rich 3D sensor observations. ...
A fundamental limitation of micro-UAVs arises from the onboard power for actuation, sensing, and computation, which can be insubstantial because of limitations on specific power and energy density with ...
(doi:10 .1007/s10514-012-9293-0) focuses on micro-UAV state estimation and mapping in river environments. ...
doi:10.1007/s10514-012-9295-y
fatcat:6xug7qffcrhcpj2rry66hmmldu
Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
2015
Journal of Field Robotics
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We develop a micro air vehicle (MAV) that operates beneath the tree line, detects and maps the river, and plans paths around three-dimensional (3D) obstacles (such as overhanging tree branches) to navigate ...
While many rivers can be mapped from satellite imagery, smaller rivers that pass through dense vegetation are occluded. ...
Diagram depicting a spinning laser scanner used for detecting the river, estimating the height above the river, and detecting obstacles on the riverbank. ...
doi:10.1002/rob.21596
fatcat:4l6gkiw7jvamhocpjye2k7roxi
Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints
[chapter]
2017
Springer Proceedings in Advanced Robotics
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Finally, the ground robot executes the control policy given pose estimates from a dedicated aerial robot that tracks and localizes the ground robot. ...
We first present the mapping component that builds a high-resolution map of the environment by flying a team of two aerial vehicles in formation with sensor information provided by their onboard cameras ...
This work was also supported by US grants NSF CNS-1330008, NSF IIS-1350904, NSF NRI-1426907, NSF CMMI-1400167, ONR N00014-12-1-1000, and Spanish projects DPI2015-69376-R (MINECO/FEDER) and SIRENA (CUD2013 ...
doi:10.1007/978-3-319-50115-4_46
dblp:conf/iser/Cristofalo0VMSB16
fatcat:pynipkw2vjasrlfcdwkgf2tami
The Mobile Robot Rhino
[chapter]
1995
Neural Networks: Artificial Intelligence and Industrial Applications
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s RHINO was the University of Bonn's entry in the 1994 AAAI Robot Competition and Exhibition. RHINO is a mobile robot designed for indoor navigation and manipulation tasks. ...
The general scientific goal of the RHINO project is the development and the analysis of autonomous and complex learning systems. ...
Travel to the competition would not have been possible without a generous travel grant from AAAI and the invaluable assistance of Peter Lachart, Wolli Steiner, and Peter Wallossek. ...
doi:10.1007/978-1-4471-3087-1_26
dblp:conf/snn/BuhmannBCFHSST95
fatcat:6at2djicdjgudb5ubybrom2jze
Autonomous MAV navigation in complex GNSS-denied 3D environments
2015
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
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For autonomous navigation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. ...
Key prerequisites for the fully autonomous operation of micro aerial vehicles in restricted environments are 3D mapping, real-time pose tracking, obstacle detection, and planning of collision-free trajectories ...
The resulting robot pose estimate from the allocentric localization is used as a measurement update in a lower-level state estimation filter. ...
doi:10.1109/ssrr.2015.7443012
dblp:conf/ssrr/NieuwenhuisenDB15
fatcat:cxqxvadonbcpvgruuq2mdgrx3e
Survey on Computer Vision for UAVs: Current Developments and Trends
2017
Journal of Intelligent and Robotic Systems
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More specifically vision based position-attitude control, pose estimation and mapping, obstacle detection as well as target tracking are the identified components towards autonomous agents. ...
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. ...
reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. ...
doi:10.1007/s10846-017-0483-z
fatcat:2abqia3mlnedrlonxhlsjanffy
Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments
2015
Journal of Intelligent and Robotic Systems
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For autonomous navigation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. ...
Key prerequisites for the fully autonomous operation of micro aerial vehicles in restricted environments are 3D mapping, real-time pose tracking, obstacle detection, and planning of collision-free trajectories ...
Acknowledgments This work has been supported by grants BE 2556/7 and BE 2556/8 of German Research Foundation (DFG) and by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the Autonomics ...
doi:10.1007/s10846-015-0274-3
fatcat:bvsfhwoq2nborcrruyqtxhziiy
Motion- and Uncertainty-aware Path Planning for Micro Aerial Vehicles
2014
Journal of Field Robotics
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Localization and state estimation are reaching a certain maturity in mobile robotics, often providing both a precise robot pose estimate at a point in time and the corresponding uncertainty. ...
Making use of rapidly exploring random belief trees, here we evaluate offline multiple path hypotheses in a known map to select a path exhibiting the motion required to estimate the robot's state accurately ...
ACKNOWLEDGMENTS The authors gratefully acknowledge Adam Bry and Nick Roy for providing their generic RRBT framework and many helpful discussions, which led to the results of this work. ...
doi:10.1002/rob.21522
fatcat:z7uzvnekxba43lnhzrcz4vegmu
Space Robotics
[chapter]
2016
Springer Handbook of Robotics
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Future trends in Space Robotics are expected to lead to planetary rovers that can operate many days without commands, and can approach and analyze science targets from a substantial distance with only ...
a single command, and robots that can assemble/construct, maintain, and service space hardware using very precise force control, dexterous hands, despite multi-second time delay. ...
This range map, along with the known camera viewing geometry, can be transformed into an elevation map that is used to identify obstacles and other forms of hazards. ...
doi:10.1007/978-3-319-32552-1_55
fatcat:iwg6n5zngvg6dcsvxd4efk2jpe
Trail following with omnidirectional vision
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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A motion planner is also described which takes the trail shape estimate and local map to plan smooth trajectories around in-trail and near-trail hazards. ...
Stereo visual odometry improves tracker dynamics on uneven terrain and permits local obstacle map maintenance. ...
In addition to using stereo for motion estimation, we are also investigating stereo-based static obstacle detection as another layer in the local occupancy grid map. ...
doi:10.1109/iros.2010.5650189
dblp:conf/iros/RasmussenLK10
fatcat:m73qyd7xbrarhhkh5xzqnpy2u4
Aerial Survey Robotics in Extreme Environments: Mapping Volcanic CO2 Emissions With Flocking UAVs
2022
Frontiers in Control Engineering
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These methods are also applicable to a range of other airborne concentration mapping tasks, such as pipeline leak detection and contaminant localization. ...
We implement two survey algorithms on teams of Dragonfly robots and demonstrate that they effectively map gas emissions and locate the highest gas concentrations. ...
ACKNOWLEDGMENTS We thank the Hummingbird Music Camp and the City of Albuquerque Parks and Recreation for their support. ...
doi:10.3389/fcteg.2022.836720
fatcat:q7nh5d3tjzd3reh4odzhcobpue
Operational Validation of Search and Rescue Robots
[chapter]
2017
Search and Rescue Robotics - From Theory to Practice
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Two large-scale simulated disaster scenarios were organized: a simulated shipwreck and an earthquake response scenario. ...
a flood response mission. ...
Acknowledgements The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417. ...
doi:10.5772/intechopen.69497
fatcat:rjm7yh54hvhjjhnhkumoj7qcpm
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