Image-based road network clearing without localization and without maps using a team of UAVs

Matteo Gagliardi, Giuseppe Oriolo, Heinrich Bulthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We address the problem of clearing an arbitrary and unknown network of roads using an organized team of Unmanned Aerial Vehicles (UAVs) equipped with a monocular down-facing camera, an altimeter, plus high-bandwidth short-range and low-bandwidth long-range communication systems. We allow the UAVs to possibly split in several subgroups. In each subgroup a leader guides the motion employing a hierarchical coordination. A feature/image-based algorithm guides the subgroup toward the unexplored region without any use of global localization or environmental mapping. At the same time all the entry-points of the the explored region are kept under control, so that any moving object that enters or exits the previously cleared area. Simulative results on real aerial images demonstrate the functionalities and the effectiveness of the proposed algorithm.

Original languageEnglish
Title of host publication2014 European Control Conference, ECC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1902-1908
Number of pages7
ISBN (Print)9783952426913
DOIs
Publication statusPublished - 2014 Jan 1
Externally publishedYes
Event13th European Control Conference, ECC 2014 - Strasbourg, France
Duration: 2014 Jun 242014 Jun 27

Other

Other13th European Control Conference, ECC 2014
CountryFrance
CityStrasbourg
Period14/6/2414/6/27

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Gagliardi, M., Oriolo, G., Bulthoff, H., & Franchi, A. (2014). Image-based road network clearing without localization and without maps using a team of UAVs. In 2014 European Control Conference, ECC 2014 (pp. 1902-1908). [6862560] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2014.6862560