Name
Title | ||
|---|---|---|
UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition |
Abstract | ||
|---|---|---|
The technological advancement in Unmanned Aerial Vehicles (UAVs) or drones and their deployment in real-life Search and Rescue (SAR) missions is imminent. We, therefore, present a perception-aware autonomous exploration framework aimed at performing vision-based target detection and collision avoidance with an Unmanned Aerial Vehicle (UAV). The UAV utilizes a depth camera for maneuvering and finding the target. The underlying indoor exploration approach considers autonomous collision-free navigation, as well as target detection with a ballistic ball payload delivery without a prior map. Moreover, the proposed method allows safe navigation in enclosed unknown areas congested with randomly positioned obstacles and target locations. Our underlined end-to-end system architecture integrates the proposed exploration strategy. Extensive simulation experiments, using several Key Performance Indicators (KPIs), showcase the effectiveness of the proposed Robot Operating System (ROS) framework in a simulated Gazebo environment under various parameter settings. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/UR55393.2022.9866527 | 2022 19th International Conference on Ubiquitous Robots (UR) |
Keywords | DocType | ISBN |
UAV autonomous indoor exploration,SAR missions,reflections,ICUAS 2022 competition,drones,perception-aware autonomous exploration framework,vision-based target detection,collision avoidance,Unmanned Aerial Vehicle,depth camera,maneuvering finding,underlying indoor exploration approach,autonomous collision-free navigation,ballistic ball payload delivery,prior map,safe navigation,enclosed unknown areas,randomly positioned obstacles,target locations,underlined end-to-end system architecture,exploration strategy,Key Performance Indicators,Robot Operating System framework | Conference | 978-1-6654-8254-7 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adil Farooq | 1 | 0 | 0.34 |
| Antreas Anastasiou | 2 | 0 | 0.34 |
| Nicolas Souli | 3 | 0 | 0.68 |
| Christos Laoudias | 4 | 2 | 2.07 |
| Panayiotis S. Kolios | 5 | 0 | 0.34 |
| Theocharis Theocharides | 6 | 205 | 26.83 |