SwarmHive: 移動ロボット上への自律着陸を実現する異種ドローン群
SwarmHive: Heterogeneous Swarm of Drones for Robust Autonomous Landing on Moving Robot
リーダー機のみにカメラを搭載し、フォロワー機は人工ポテンシャル場で衝突回避しながら、移動するロボット上にドローン群が高精度で編隊着陸する手法を提案した。
著者: Ayush Gupta, Ahmed Baza, Ekaterina Dorzhieva, Mert Alper, Mariia Makarova, Stepan Perminov, Aleksey Fedoseev, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the swarm of drones with computer vision that considerably increases the payload and shortens the flight time, we propose to install only one camera on the leader drone. The follower drones receive the commands from the leader UAV and maintain a collision-free trajectory with the artificial potential field. The experimental results revealed a high accuracy of the swarm landing on a static mobile platform (RMSE of 4.48 cm). RMSE of swarm landing on the mobile platform moving with the maximum velocities of 1.0 m/s and 1.5 m/s equals 8.76 cm and 8.98 cm, respectively. The proposed SwarmHive technology will allow the time-saving landing of the swarm for further drone recharging. This will make it possible to achieve self-sustainable operation of a multi-agent robotic system for such scenarios as rescue operations, inspection and maintenance, autonomous warehouse inventory, cargo delivery, and etc.
