This work proposes a novel pipeline for collaborative task completion using a heterogeneous swarm consisting of an Unmanned Aerial Vehicle (UAV) and a Unmanned Ground Vehicle (UGV). The system leverages the strengths of each platform: a UAV’s rapid, wide-area scanning capabilities and a UGV’s dexterity, extended operation time, and payload capacity. This collaboration addresses limitations in traditional single-platform approaches. The pipeline is demonstrated in a simulated environment using ROS2 and Gazebo. The UAV scans the area of interest from which objects of interest are detected on UGV. The UGV is further tasked to explore the detected areas of interest.


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    Titel :

    Beyond Boundaries: Collaborative Task Completion Using Heterogeneous Swarm


    Beteiligte:


    Erscheinungsdatum :

    22.07.2024


    Format / Umfang :

    12410871 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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