Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources

2019 ◽  
pp. 158-171
Author(s):  
Petr Ješke ◽  
Štěpán Klouček ◽  
Martin Saska
Keyword(s):  
Sensory Information ◽  
Micro Aerial Vehicles ◽  
Aerial Vehicles ◽  
Computational Resources

FAST RRT* 3D-Sliced Planner for Autonomous Exploration Using MAVs

2021 ◽  
pp. 1-12
Author(s):  
Á. Martínez Novo ◽  
Liang Lu ◽  
Pascual Campoy
Keyword(s):  
State Of The Art ◽  
Micro Aerial Vehicles ◽  
Autonomous Exploration ◽  
Signed Distance ◽  
Aerial Vehicles ◽  
3D Environment ◽  
Frontier Points ◽  
Computational Resources ◽  
Next Best View ◽  
Signed Distance Field

This paper addresses the challenge to build an autonomous exploration system using Micro-Aerial Vehicles (MAVs). MAVs are capable of flying autonomously, generating collision-free paths to navigate in unknown areas and also reconstructing the environment at which they are deployed. One of the contributions of our system is the “3D-Sliced Planner” for exploration. The main innovation is the low computational resources needed. This is because Optimal-Frontier-Points (OFP) to explore are computed in 2D slices of the 3D environment using a global Rapidly-exploring Random Tree (RRT) frontier detector. Then, the MAV can plan path routes to these points to explore the surroundings with our new proposed local “FAST RRT* Planner” that uses a tree reconnection algorithm based on cost, and a collision checking algorithm based on Signed Distance Field (SDF). The results show the proposed explorer takes 43.95% less time to compute exploration points and paths when compared with the State-of-the-Art represented by the Receding Horizon Next Best View Planner (RH-NBVP) in Gazebo simulations.

scholarly journals Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles

2016 ◽  
Vol 1 (1) ◽  
pp. 153-160 ◽  
Author(s):  
Philip M. Dames ◽  
Mac Schwager ◽  
Daniela Rus ◽  
Vijay Kumar
Keyword(s):  
Anomaly Detection ◽  
Magnetic Anomaly ◽  
Micro Aerial Vehicles ◽  
Aerial Vehicles

scholarly journals 3D printing of dual phase-strengthened microlattices for lightweight micro aerial vehicles

2021 ◽  
pp. 109767
Author(s):  
Ran Xiao ◽  
Xiang Li ◽  
Huaiyuan Jia ◽  
James Utama Surjadi ◽  
Jingqi Li ◽  
...  
Keyword(s):  
3D Printing ◽  
Dual Phase ◽  
Micro Aerial Vehicles ◽  
Aerial Vehicles

Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles

2016 ◽  
Vol 84 (1-4) ◽  
pp. 469-492 ◽  
Author(s):  
Martin Saska ◽  
Vojtěch Vonásek ◽  
Jan Chudoba ◽  
Justin Thomas ◽  
Giuseppe Loianno ◽  
...  
Keyword(s):  
Micro Aerial Vehicles ◽  
Aerial Vehicles

Micro Aerial Vehicles

2015 ◽  
pp. 1770-1778 ◽  
Author(s):  
Jeremiah Hall ◽  
Kamran Mohseni
Keyword(s):  
Micro Aerial Vehicles ◽  
Aerial Vehicles
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