Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue

IEEE Robotics and Automation Magazine

Volumn 19, Issue 3, 2012, Pages 46-56

  Tomic, Teodor ^a   Schmid, Korbinian ^a   Lutz, Philipp ^a   Domel, Andreas ^a   Kassecker, Michael ^a   Mair, Elmar ^a   Grixa, Iris ^a   Ruess, Felix ^a   Suppa, Michael ^a   Burschka, Darius ^b  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AERIAL SYSTEMS; AUTONOMOUS UAV; COMPUTATIONAL REQUIREMENTS; COMPUTING RESOURCE; DISTRIBUTED COMPUTATIONS; ESSENTIAL SUPPORT; FLIGHT EXPERIMENTS; HUMAN TASKS; INERTIAL MEASUREMENT UNIT; ODOMETRY; OPTIMAL TRADEOFFS; OUTDOOR NAVIGATION; QUADROTORS; RESEARCH PLATFORMS; ROBOTIC SYSTEMS; SITUATION ASSESSMENT; UNMANNED AIRCRAFT SYSTEM; URBAN SEARCH AND RESCUE;

COMMUNICATION; STEREO VISION; SYSTEMS ANALYSIS; UNITS OF MEASUREMENT;

NAVIGATION;

EID: 84866433442     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2012.2206473     Document Type: Article

References (20)

1. L. Lin, M. Roscheck, M. Goodrich, and B. Morse, "Supporting wilderness search and rescue with integrated intelligence: autonomy and information at the right time and the right place," in Proc. 24th AAAI Conf. Artificial Intelligence, Atlanta, GA, 2010, pp. 1542-1547.
2. M.A. Goodrich, J.L. Cooper, J.A. Adams, C. Humphrey, R. Zeeman, and B.G. Buss, "Using a mini-UAV to support wilderness search and rescue: Practices for human-robot teaming," in Proc. IEEE Int. Workshop Safety, Security and Rescue Robotics (SSRR), Rome, Italy, Sept. 2007, pp. 1-9.
3. J. Casper and R.R. Murphy, "Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center," IEEE Trans. Syst.Man, Cybern. B: Cybernet., vol. 33, no. 3, pp. 367-385, 2003.
4. S. Grzonka, G. Grisetti, and W. Burgard, "Towards a navigation system for autonomous indoor flying," in Proc. IEEE ICRA, Kobe, Japan, May 2009, pp. 2878-2883.
5. A. Bachrach, R. He, and N. Roy, "Autonomous flight in unstructured and unknown indoor environments," in Proc. European Micro Aerial Vehicle Conf (EMAV), Delft, The Netherlands, 2009, pp. 1-8.
6. S. Shen, N. Michael, and V. Kumar, "Autonomous multi-floor indoor navigation with a computationally constrained MAV," in Proc. ICRA, Shanghai, China, May 2011, pp. 20-25.
7. M. Achtelik, S. Weiss, and R. Siegwart, "Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments," in Proc. IEEE ICRA, Shanghai, China, 2011, pp. 3056-3063.
8. IMAV2011-International micro aerial vehicle competition. (2011). Online. Available: http://www.imav2011.org/.
9. M. Blosch, S. Weiss, D. Scaramuzza, and R. Siegwart, "Vision based MAV navigation in unknown and unstructured environments," in Proc. IEEE ICRA, Anchorage, AK, 2010, pp. 21-28.
10. N. L. Cassimatis, J. G. Trafton, M. D. Bugajska, and A. C. Schultz, "Integrating cognition, perception and action through mental simulation in robots," Robot. Auton. Syst., vol. 49, no. 1-2, pp. 13-23, 2004.
11. M. A. Goodale and G. K. Humphrey, "The objects of action and perception," Cognition, vol. 67, no. 1-2, pp. 181-207, 1998. (Pubitemid 128431121)
12. A. Censi, "An ICP variant using a point-to-line metric," in Proc. IEEE ICRA, 2008, pp. 19-25.
13. H. Hirschmuller, P. R. Innocent, and J. M. Garibaldi, "Real-time correlation- based stereo vision with reduced border errors," Int. J. Comput. Vis., vol. 47, no. 1-3, pp. 229-246, 2002. (Pubitemid 34428433)
14. H. Hirschmuller, "Stereo vision based mapping and immediate virtual walkthroughs," Ph.D. dissertation, School of Computing, De Montfort University, Leicester, U.K., 2003.
15. H. Hirschmuller, P. R. Innocent, and J. M. Garibaldi, "Fast, unconstrained camera motion estimation from stereo without tracking and robust statistics," in Proc. 7th Int. Conf. Control, Automation, Robotics and Vision (ICARCV), Singapore, Dec. 2002, pp. 1099-1104.
16. S. Roumeliotis and J. Burdick, "Stochastic cloning: A generalized framework for processing relative state measurements," in Proc. IEEE ICRA, Washington, DC, 2002, vol. 2, pp. 1788-1795. (Pubitemid 34916503)
17. W. T. Freeman andM. Roth, "Orientation histograms for hand gesture recognition,"Mitsubishi Electric Research Labs., 201, Tech. Rep., 1995.
18. V. Utkin and J. Shi, "Integral sliding mode in systems operating under uncertainty conditions," in Proc. 35th IEEE Decision and Control, Kobe, Japan, 1996, vol. 4, pp. 4591-4596.
19. K. Youcef-Toumi and O. Ito, "A time delay controller for systems with unknown dynamics," in Proc. Am. Control Conf., Atlanta,GA, 1988, pp. 904-913.
20. "GermanAerospaceCenter (DLR) Institute of Robotics and Mechatronics." [Online]. Available: http://www.dlr.de/rm/desktopdefault. aspx/tabid-7903