相关论文: A Decentralized Multi-Agent Unmanned Aerial System…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack of reliability in the communications infrastructure, and a…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 2020. The UAVs utilise visual feedback to autonomously detect…
In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
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…
This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 posed diverse challenges for unmanned aerial vehicles (UAVs). We present our four tailored UAVs, specifically developed for individual aerial-robot tasks of MBZIRC,…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
Autonomous mobile robots have the potential to solve missions that are either too complex or dangerous to be accomplished by humans. In this paper, we address the design and autonomous deployment of a ground vehicle equipped with a robotic…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…