Cooperative μUAV-UGV autonomous indoor surveillance

Saska, Martin, Krajnik, Tomas and Preucil, Libor (2012) Cooperative μUAV-UGV autonomous indoor surveillance. In: 9th International Multi-Conference on Systems, Signals and Devices (SSD), 20-23 March 2012, Chemnitz, Germany.

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Cooperative μUAV-UGV autonomous indoor surveillance
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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments. In the proposed scenario, the UGV is equipped with an interactive helipad and it acts as a carrier of the UAV. The UAV is a light-weight quadro-rotor helicopter equipped with two cameras, which are used to inspect locations inaccessible for the UGV. The paper is focused on the most crucial aspects of the proposed UAV-UGV periodical surveillance that are visual navigation, localization and autonomous landing that need to be done periodically. We propose two concepts of mobile helipads employed for correction of imprecise landing of the UAV. Beside the description of the visual navigation, relative localization and both helipads, a study of landing performance is provided. The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people.

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Keywords:mobile robotics, surveillance systems, computer vision, UAV-UGV cooperation
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:14900
Deposited On:12 Sep 2014 08:59

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