MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
Czech Technical University in Prague（捷克布拉格技术大学）
Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri … 展开作者
Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Robert Penicka, Tiago Nascimento, Martin Saska
备注：
10 pages, 17 figures, conference
发表信息：
2022 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1264-1273, June, 2022, Dubrovnik, Croatia
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAVs, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations.
RoboLoc: A Benchmark Dataset for Point Place Recognition and Localization in Indoor-Outdoor Integrated Environments
Department of Data, Network and AI, Ajou University（数据、网络与人工智能系，亚运会大学）；Korea Railroad Research Institute（韩国铁路研究院）；Department of Mobility Engineering, Ajou University（移动工程系，亚运会大学）
Reactive Multi-Robot Navigation in Outdoor Environments Through Uncertainty-Aware Active Learning of Human Preference Landscape
Kent State University（肯特州立大学）；Worcester Polytechnic Institute（伍斯特理工学院）；University of Pittsburgh（匹兹堡大学）；Northeastern University（东北大学）；College of Aeronautics and Engineering（航空航天与工程学院）
Decentralized Heterogeneous Multi-Robot Collaborative Exploration for Indoor and Outdoor 3D Environments
College of Artificial Intelligence, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）人工智能学院）；Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）
Real-World Deployment of Cloud-based Autonomous Mobility Systems for Outdoor and Indoor Environments
Department of Mechanical and Mechatronics Engineering, University of Waterloo（滑铁卢大学机械与机电工程系）；Technology Partnerships and Innovations, Rogers Communications, Canada Inc.（罗杰斯通讯加拿大有限公司技术伙伴关系与创新部）；Mechanical Engineering Department, University of Alberta（阿尔伯塔大学机械工程系）
Learning Geometric and Photometric Features from Panoramic LiDAR Scans for Outdoor Place Categorization
Graduate School of Information Science and Electrical Engineering, Kyushu University（九州大学信息科学与电子工程研究生院）；Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；Faculty of Information Science and Electrical Engineering, Kyushu University（九州大学信息科学与电子工程学部）；Technical University of Cartagena（卡塔赫纳技术大学）
