Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles
Vojtěch Spurný,Tomas Baca,Martin Saska,Robert Pěnička,Tomas Krajnik,Justin Thomas,Dinesh Thakur,Giuseppe Loianno,Vijay Kumar +8 more
TLDR
The failure recovery and synchronization job manager is used to integrate all the presented subtasks together and also to decrease the vulnerability to individual subtask failures in real‐world conditions.About:
This article is published in Journal of Field Robotics.The article was published on 2019-01-01 and is currently open access. It has received 81 citations till now. The article focuses on the topics: Treasure.read more
Citations
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Journal ArticleDOI
Autonomous landing on a moving vehicle with an unmanned aerial vehicle
Tomas Baca,Petr Stepan,Vojtech Spurny,Daniel Hert,Robert Penicka,Martin Saska,Justin Thomas,Giuseppe Loianno,Vijay Kumar +8 more
TL;DR: A novel control system in which a Model Predictive Controller is used in real time to generate a reference trajectory for the UAV, which are then tracked by the nonlinear feedback controller allows to track predictions of the car motion with minimal position error.
Book ChapterDOI
DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments
Tomáš Rouček,Martin Pecka,Petr Čížek,Tomáš Petříček,Jan Bayer,Vojtěch Šalanský,Daniel Heřt,Matěj Petrlík,Tomas Baca,Vojěch Spurný,François Pomerleau,Vladimír Kubelka,Jan Faigl,Karel Zimmermann,Martin Saska,Tomas Svoboda,Tomas Krajnik +16 more
TL;DR: A description of the multi-robot heterogeneous exploration system of the CTU-CRAS team, which scored third place in the Tunnel Circuit round, surpassing the performance of all other non-DARPA-funded competitors.
Journal ArticleDOI
A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints
TL;DR: This work presents a review and discussion of the challenges that must be solved in order to successfully develop swarms of Micro Air Vehicles (MAVs) for real world operations, and extracts constraints and links that relate the local level MAV capabilities to the global operations of the swarm.
Journal ArticleDOI
A survey of single and multi-UAV aerial manipulation
TL;DR: Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue, and hence can be used for search and rescue purposes.
Journal ArticleDOI
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
TL;DR: This work proposes a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously, which enables complex missions in GNSS and GNSS-denied environments.
References
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Minimum snap trajectory generation and control for quadrotors
Daniel Mellinger,Vijay Kumar +1 more
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A survey on coverage path planning for robotics
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TL;DR: A review of the most successful CPP methods, focusing on the achievements made in the past decade, is presented, providing links to the most interesting and successful works.