セマンティクスを活用した空地協調チームによる大規模探査の課題と可能性
Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
空中と地上のロボットチームがセマンティクスを共通言語として使い、機会的通信に頼りながら大規模環境を探査するシステムを実証し、その課題と教訓をまとめた。
著者: Fernando Cladera, Ian D. Miller, Zachary Ravichandran, Varun Murali, Jason Hughes, M. Ani Hsieh, C. J. Taylor, Vijay Kumar
分類: cs.RO
原文アブストラクト
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate a system for large-scale exploration using a team of aerial and ground robots. Our system uses semantics as lingua franca, and relies on fully opportunistic communications. We highlight the unique challenges from this approach, explain our system architecture and showcase lessons learned during our experiments. All our code is open-source, encouraging researchers to use it and build upon.
