Paper Info
Title
COMPRA: A COMPact Reactive Autonomy Framework for Subterranean MAV Based Search-And-Rescue Operations
Abstract
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and- Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously unknown areas while specific mission criteria are considered e.g. an object of interest is identified and localized, the remaining useful battery life, the overall desired exploration mission duration. The proposed architecture follows a low-complexity algorithmic design to facilitate fully on-board computations, including nonlinear control, state-estimation, navigation, exploration behavior and object localization capabilities. The framework is mainly structured around a reactive local avoidance planner, based on enhanced Potential Field concepts and using instantaneous 3D pointclouds, as well as a computationally efficient heading regulation technique, based on depth images from an instantaneous camera stream. Those techniques decouple the collision-free path generation from the dependency of a global map and are capable of handling imprecise localization occasions. Field experimental verification of the overall architecture is performed in relevant unknown Global Positioning System (GPS)-denied environments.
Year
DOI
Venue
2022
10.1007/s10846-022-01665-6
Journal of Intelligent & Robotic Systems
Keywords
DocType
Volume
MAV SubT exploration framework, Search-and-rescue Robotics, NMPC, Obstacle Avoidance, MAV autonomy, Object localization
Journal
105
Issue
ISSN
Citations 
3
0921-0296
0
PageRank 
References 
Authors
0.34
9
5
Name
Order
Citations
PageRank
Björn Lindqvist141.83
christoforos kanellakis2348.89
Sina Sharif Mansouri3119.46
Ali-akbar Agha-mohammadi414022.23
George Nikolakopoulos514442.44