These videos show experiments, demonstrations, and footage of MBZIRC 2017 challenge 3 demonstrating our decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects. The videos accompany our publications listed below. Reference Bähnemann, Rik, et al. "A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects." Safety, Security and Rescue Robotics, IEEE International Symposium on. IEEE, 2017. Bähnemann, Rik, et al. "The ETH-MAV Team in the MBZ International Robotics Challenge." arXiv preprint arXiv:1710.08275 (2017). Abstract We present a fully integrated autonomous multirobot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as multi-agent aerial exploration, object detection and tracking, and aerial gripping. Usually, the community tackles these problems individually but the integration into a working system generates extra complexity which is rarely addressed. We show that this task can be solved reliably using only simple components. Our decentralized system uses accurate global state estimation, reactive collision avoidance, and sweep planning for multi-agent exploration. Objects are detected, tracked, and picked up using blob detection, inverse 3D-projection, Kalman filtering, visual-servoing, and a magnetic gripper. We evaluate the individual components of our system on the real platform. The full system has been deployed successfully in various public demonstrations, field tests, and the Mohamed Bin Zayed International Robotics Challenge 2017 (MBZIRC). Among the contestants we showed reliable performances and reached second place out of 17 in the individual challenge.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects


    Beteiligte:
    Bähnemann, Rik (Autor:in) / Schindler, Dominik (Autor:in) / Kamel, Mina (Autor:in) / Siegwart, Roland (Autor:in) / Nieto, Juan (Autor:in)

    Erscheinungsdatum :

    2018-01-09


    Anmerkungen:

    oai:zenodo.org:1143747



    Medientyp :

    Audiovisuelles Material


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Unmanned aerial vehicle with decentralized control system

    GU KAIWEN | Europäisches Patentamt | 2021

    Freier Zugriff

    UNMANNED AERIAL VEHICLE WITH DECENTRALIZED CONTROL SYSTEM

    GU KAIWEN | Europäisches Patentamt | 2022

    Freier Zugriff

    Unmanned aerial vehicle with decentralized control system

    GU KAIWEN | Europäisches Patentamt | 2020

    Freier Zugriff

    UNMANNED AERIAL VEHICLE WITH DECENTRALIZED CONTROL SYSTEM

    GU KAIWEN | Europäisches Patentamt | 2019

    Freier Zugriff

    UNMANNED AERIAL VEHICLE WITH DECENTRALIZED CONTROL SYSTEM

    GU KAIWEN | Europäisches Patentamt | 2019

    Freier Zugriff