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Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue

Tomić, Teodor and Schmid, Korbinian and Lutz, Philipp and Dömel, Andreas and Kassecker, Michael and Mair, Elmar and Grixa, Iris Lynne and Ruess, Felix and Suppa, Michael and Burschka, Darius (2012) Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue. IEEE Robotics & Automation Magazine, 19 (3), pp. 46-56. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2012.2206473. ISSN 1070-9932.

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Urban Search and Rescue missions raise special requirements on robotic systems. Small aerial systems provide essential support to human task forces in situation assessment and surveillance. As external infrastructure for navigation and communication is usually not available, robotic systems must be able to operate autonomously. Limited payload of small aerial systems poses a great challenge to the system design. The optimal tradeoff between flight performance, sensors and computing resources has to be found. Communication to external computers cannot be guaranteed, therefore all processing and decision making has to be done on-board. In this paper, we present a UAS system design fulfilling these requirements. The components of our system are structured into groups to encapsulate their functionality and interfaces.We use both laser and stereo vision odometry to enable seamless indoor and outdoor navigation. The odometry is fused with an Inertial Measurement Unit in an Extended Kalman Filter. Navigation is supported by a module that recognizes known objects in the environment. A distributed computation approach is adopted to address computational requirements of the used algorithms. The capabilities of the system are validated in flight experiments, using a quadrotor.

Item URL in elib:https://elib.dlr.de/79708/
Document Type:Article
Title:Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Lutz, Philippphilipp.lutz (at) dlr.deUNSPECIFIED
Dömel, Andreasandreas.doemel (at) dlr.deUNSPECIFIED
Kassecker, Michaelmichael.kassecker (at) dlr.deUNSPECIFIED
Mair, Elmarelmar.mair (at) dlr.deUNSPECIFIED
Grixa, Iris Lynneiris.grixa (at) dlr.deUNSPECIFIED
Ruess, Felixfelix.ruess (at) dlr.deUNSPECIFIED
Suppa, Michaelmichael.suppa (at) dlr.deUNSPECIFIED
Burschka, Dariusburschka (at) cs.tum.deUNSPECIFIED
Date:28 August 2012
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/MRA.2012.2206473
Page Range:pp. 46-56
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Quadrotor, Aerial robotics, search and rescue robots, autonomous operation, resource-limited seamless navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old), R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Tomic, Teodor
Deposited On:19 Dec 2012 09:47
Last Modified:06 Sep 2019 15:26

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