Type
Book ChapterKAUST Department
Mechanical Engineering ProgramPhysical Science and Engineering (PSE) Division
Electrical Engineering Program
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Date
2021-01-29Preprint Posting Date
2020-06-12Online Publication Date
2021-01-30Print Publication Date
2021Permanent link to this record
http://hdl.handle.net/10754/666040
Metadata
Show full item recordAbstract
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles (UAVs), which are capable of autonomously searching, picking up, and transporting randomly distributed objects in an outdoor field. The method involves vision-based object detection and localization, passive aerial grasping with our novel design, GPS-based UAV navigation, and safe release of the objects at the drop zone. Our cooperative strategy ensures safe spatial separation between UAVs at all times and we prevent any conflicts at the drop zone using communication-enabled consensus. All computation is performed onboard each UAV. We describe the complete software and hardware architecture for the system and demonstrate its reliable performance using comprehensive outdoor experiments and by comparing our results with some recent, similar works.Citation
Abdelkader, M., Fiaz, U. A., Toumi, N., Mabrok, M. A., & Shamma, J. S. (2021). RISCuer: a reliable multi-UAV search and rescue testbed. Unmanned Aerial Systems, 345–374. doi:10.1016/b978-0-12-820276-0.00021-2Publisher
ElsevierISBN
9780128202760arXiv
2006.06966Additional Links
https://linkinghub.elsevier.com/retrieve/pii/B9780128202760000212http://arxiv.org/pdf/2006.06966
ae974a485f413a2113503eed53cd6c53
10.1016/b978-0-12-820276-0.00021-2