LIVE: LiDAR情報を活用した複数ロボットによる複数物体の視覚探索
LIVE: Lidar Informed Visual Search for Multiple Objects with Multiple Robots
LiDARで未地図障害物を検出し、その領域を視覚的に確認するようオンラインで計画を修正する、複数ロボット協調探索手法を提案し、実環境実験で検証した。
著者: Ryan Gupta, Minkyu Kim, Juliana T Rodriguez, Kyle Morgenstein, Luis Sentis
分類: cs.RO
原文アブストラクト
This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in an indoor apartment setting. LIVE acts as a perception module that detects unmapped obstacles, or Short Term Features (STFs), in Lidar observations. STFs are filtered, resulting in regions to be visually inspected by modifying plans online. Lidar Coverage Path Planning (CPP) is employed for generating highly efficient global plans for heterogeneous robot teams. Finally, we present a data model and a demonstration dataset, which can be found by visiting our project website https://sites.google.com/view/live-iros2023/home.
