This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system’s ability to autonomously explore challenging unknown underground environments.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration


    Beteiligte:
    Petris, Paolo De (Autor:in) / Nguyen, Huan (Autor:in) / Dharmadhikari, Mihir (Autor:in) / Kulkarni, Mihir (Autor:in) / Khedekar, Nikhil (Autor:in) / Mascarich, Frank (Autor:in) / Alexis, Kostas (Autor:in)


    Erscheinungsdatum :

    21.06.2022


    Format / Umfang :

    4289283 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous Collision Avoidance of flying Vehicles

    Szu, Harold / Krapels, Keith | AIAA | 2007


    A Collision-resilient Flying Robot

    Briod, Adrien / Kornatowski, Przemyslaw / Zufferey, Jean-Christophe et al. | Tema Archiv | 2014


    A Collision-resilient Flying Robot

    Briod, A. / Kornatowski, P. / Zufferey, J. C. et al. | British Library Online Contents | 2014


    Train of Autonomous Aerial Vehicles for Subterranean Exploration With SLAM Capabilities

    Blanchard, Nicolas / Parker, Amber / Mahalanobis, Abhijit et al. | AIAA | 2025


    Autonomous Collision Avoidance of flying Vehicles AIAA Paper

    Szu, H. / Krapels, K. | British Library Conference Proceedings | 2007