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Multi-robot active perception for fast andefficient scene reconstruction.

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  • معلومة اضافية
    • بيانات النشر:
      Universidad de Zaragoza
    • الموضوع:
      2022
    • Collection:
      Digital Repository of University of Zaragoza (ZAGUAN)
    • نبذة مختصرة :
      The efficiency of path-planning in robot navigation is crucial in tasks, such as search-and-rescue and disaster surveying, but this is emphasised even more when considering multi-rotor aerial robots due to the limited battery and flight time. In this spirit, this Master Thesis proposes an efficient, hierarchical planner to achieve a comprehensive visual coverage of large-scale outdoor scenarios for small drones. Following an initial reconnaissance flight, a coarse map of the scene gets built in real-time. Then, regions of the map that were not appropriately observed are identified and grouped by a novel perception-aware clustering process that enables the generation of continuous trajectories (sweeps) to cover them efficiently. Thanks to this partitioning of the map in a set of tasks, we are able to generalize the planning to an arbitrary number of drones and perform a well-balanced workload distribution among them. We compare our approach to an alternative state-of-the-art method for exploration and show the advantages of our pipeline in terms of efficiency for obtaining coverage in large environments.
    • File Description:
      application/pdf
    • Relation:
      http://zaguan.unizar.es/record/118326
    • الدخول الالكتروني :
      http://zaguan.unizar.es/record/118326
    • Rights:
      by-nc-sa ; http://creativecommons.org/licenses/by-nc-sa/3.0/
    • الرقم المعرف:
      edsbas.3DFB083E