MRS Drone：空中マルチロボットシステムの実環境展開に向けたモジュール型プラットフォーム
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
アクチュエータ・フレーム・センサ構成を柔軟に変更できるモジュール型ドローン「MRS Drone」を開発し、シミュレータと実機を組み合わせて複数機の実環境展開を実現した。
著者: Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Robert Penicka, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Martin Sramek, Afzal Ahmad, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Tiago Nascimento, Martin Saska
分類: cs.RO
原文アブストラクト
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.
