By Topic

Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - A field experiment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Marco Langerwisch ; Inst. for Syst. Eng., Leibniz Univ. Hannover, Hannover, Germany ; Thomas Wittmann ; Stefan Thamke ; Thomas Remmersmann
more authors

The paper presents the results of cooperative work done by three different research institutions. The cooperation concluded in a large field experiment with six heterogeneous unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). It is shown, that it is possible to do reconnaissance and surveillance, namely detection of pedestrians and vehicles, with an autonomous multi-robot system under real world conditions. The participants were all using different robotic middlewares and interfaces to the graphical user interface. Hence, it has been agreed to use common interfaces and standards for communication. The Robot Operating System (ROS) is used as a communication layer, supported by commercially available 3G mobile radio communication for large operating distances. A standardized markup language has been used for the description of tasks and feedback from the robots to the control station. Moreover, the applied UGV control strategies and the implemented approach for detection, tracking and classification are presented. The concluding field test showed that it is possible to realize a multi-robot system of dynamic size, and that such teams are well-suited to perform reconnaissance and surveillance without constant observation by a human operator.

Published in:

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Date of Conference:

21-26 Oct. 2013