TRASH: タンデム型ローバーと空中スクラップ収集システム
TRASH: Tandem Rover and Aerial Scrap Harvester
ドローンで高速道路のゴミを検出し、CNNを搭載した地上ロボットが「貪欲ピックアップ」方式で回収する自律マルチロボットシステムを提案・検証した。
著者: Lee Milburn, John Chiaramonte, Jack Fenton, Taskin Padir
分類: cs.RO
原文アブストラクト
Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods, this paper presents an autonomous multi-robot system for highway litter monitoring and collection. Our solution integrates an aerial vehicle to scan and gather data across highway stretches with a terrestrial robot equipped with a Convolutional Neural Network (CNN) for litter detection and mapping. Upon detecting litter, the ground robot navigates to each pinpointed location, re-assesses the vicinity, and employs a "greedy pickup" approach to address potential mapping inaccuracies or litter misplacements. Through simulation studies and real-world robotic trials, this work highlights the potential of our proposed system for highway cleanliness and management in the context of Robotics, Automation, and Artificial Intelligence
