空陸協調：セマンティクスを活用した異種マルチロボットシステム
Stronger Together: Air-Ground Robotic Collaboration Using Semantics
高高度ドローンがリアルタイムに生成するセマンティックマップを用いて、地上ロボットが自己位置推定・計画・ナビゲーションを行い、外部インフラなしで協調動作するシステムを開発した。
著者: Ian D. Miller, Fernando Cladera, Trey Smith, Camillo Jose Taylor, Vijay Kumar
分類: cs.RO
原文アブストラクト
In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real time by a high-altitude quadrotor. The ground robots choose and deconflict their targets independently, without any external intervention. Moreover, they perform cross-view localization by matching their local maps with the overhead map using semantics. The communication backbone is opportunistic and distributed, allowing the entire system to operate with no external infrastructure aside from GPS for the quadrotor. We extensively tested our system by performing different missions on top of our framework over multiple experiments in different environments. Our ground robots travelled over 6 km autonomously with minimal intervention in the real world and over 96 km in simulation without interventions.
