TY - CHAP
T1 - RISCuer: a reliable multi-UAV search and rescue testbed
AU - Abdelkader, Mohamed
AU - Fiaz, Usman A.
AU - Toumi, Noureddine
AU - Mabrok, Mohamed A.
AU - Shamma, Jeff S.
N1 - KAUST Repository Item: Exported on 2021-03-02
PY - 2021/1/29
Y1 - 2021/1/29
N2 - We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles (UAVs), which are capable of autonomously searching, picking up, and transporting randomly distributed objects in an outdoor field. The method involves vision-based object detection and localization, passive aerial grasping with our novel design, GPS-based UAV navigation, and safe release of the objects at the drop zone. Our cooperative strategy ensures safe spatial separation between UAVs at all times and we prevent any conflicts at the drop zone using communication-enabled consensus. All computation is performed onboard each UAV. We describe the complete software and hardware architecture for the system and demonstrate its reliable performance using comprehensive outdoor experiments and by comparing our results with some recent, similar works.
AB - We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles (UAVs), which are capable of autonomously searching, picking up, and transporting randomly distributed objects in an outdoor field. The method involves vision-based object detection and localization, passive aerial grasping with our novel design, GPS-based UAV navigation, and safe release of the objects at the drop zone. Our cooperative strategy ensures safe spatial separation between UAVs at all times and we prevent any conflicts at the drop zone using communication-enabled consensus. All computation is performed onboard each UAV. We describe the complete software and hardware architecture for the system and demonstrate its reliable performance using comprehensive outdoor experiments and by comparing our results with some recent, similar works.
UR - http://hdl.handle.net/10754/666040
UR - https://linkinghub.elsevier.com/retrieve/pii/B9780128202760000212
U2 - 10.1016/b978-0-12-820276-0.00021-2
DO - 10.1016/b978-0-12-820276-0.00021-2
M3 - Chapter
SN - 9780128202760
SP - 345
EP - 374
BT - Unmanned Aerial Systems
PB - Elsevier
ER -