Show simple item record

dc.contributor.authorAbdelkader, Mohamed
dc.contributor.authorFiaz, Usman A.
dc.contributor.authorToumi, Noureddine
dc.contributor.authorMabrok, Mohamed A.
dc.contributor.authorShamma, Jeff S.
dc.date.accessioned2021-03-01T06:17:21Z
dc.date.available2020-11-19T11:25:49Z
dc.date.available2021-03-01T06:17:21Z
dc.date.issued2021-01-29
dc.identifier.citationAbdelkader, 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/b978-0-12-820276-0.00021-2
dc.identifier.isbn9780128202760
dc.identifier.doi10.1016/b978-0-12-820276-0.00021-2
dc.identifier.urihttp://hdl.handle.net/10754/666040
dc.description.abstractWe 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.
dc.publisherElsevier BV
dc.relation.urlhttps://linkinghub.elsevier.com/retrieve/pii/B9780128202760000212
dc.rightsArchived with thanks to Elsevier
dc.titleRISCuer: a reliable multi-UAV search and rescue testbed
dc.typeBook Chapter
dc.contributor.departmentMechanical Engineering Program
dc.contributor.departmentPhysical Science and Engineering (PSE) Division
dc.contributor.departmentElectrical Engineering Program
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.rights.embargodate2023-01-29
dc.eprint.versionPost-print
dc.contributor.institutionDepartment of Electrical and Computer Engineering, Institute for Systems Research, University of Maryland, College Park, MD, United States.
dc.contributor.institutionGroup for Research in Decision Analysis, Polytechnique Montreal, Montreal, QC, Canada.
dc.contributor.institutionDepartment of Mathematics, School of Engineering, Australian College of Kuwait, Kuwait City, Kuwait.
dc.identifier.pages345-374
dc.identifier.arxivid2006.06966
kaust.personAbdelkader, Mohamed
kaust.personShamma, Jeff S.
refterms.dateFOA2020-11-19T11:26:36Z


This item appears in the following Collection(s)

Show simple item record

VersionItemEditorDateSummary

*Selected version