DECISIVE 基准测试数据报告：第一阶段小型无人机系统性能结果
机器人学
2023-01-23 v2 人机交互
系统与控制
系统与控制
摘要
本报告回顾了马萨诸塞大学洛厄尔分校在“全面综合地下智能车辆评估的开发与执行”（DECISIVE）项目第一阶段中依据《DECISIVE 测试方法手册 v1.1》所进行的全部性能基准测试结果，该手册用于评估小型无人机系统（sUAS）在地下与受限室内环境中的性能，涵盖通信、现场就绪度、接口、避障、导航、建图、自主性、信任与态势感知。利用这 20 种测试方法，在 8 个 sUAS 平台上开展了超过 230 次测试：Cleo Robotics Dronut X1P（P = 原型）、FLIR Black Hornet PRS、Flyability Elios 2 GOV、Lumenier Nighthawk V3、Parrot ANAFI USA GOV、Skydio X2D、Teal Golden Eagle 与 Vantage Robotics Vesper。针对每种适用测试方法规定了同类最佳准则，并列出符合该准则的 sUAS，同时包含其性能的高层执行摘要。
引用
@article{arxiv.2301.07853,
title = {DECISIVE Benchmarking Data Report: sUAS Performance Results from Phase I},
author = {Adam Norton and Reza Ahmadzadeh and Kshitij Jerath and Paul Robinette and Jay Weitzen and Thanuka Wickramarathne and Holly Yanco and Minseop Choi and Ryan Donald and Brendan Donoghue and Christian Dumas and Peter Gavriel and Alden Giedraitis and Brendan Hertel and Jack Houle and Nathan Letteri and Edwin Meriaux and Zahra Rezaei Khavas and Rakshith Singh and Gregg Willcox and Naye Yoni},
journal= {arXiv preprint arXiv:2301.07853},
year = {2023}
}
备注
Approved for public release: PAO #PR2023_74172; arXiv admin note: substantial text overlap with arXiv:2211.01801