Karlsruhe Institute of Technology

https://www.kit.edu/english/

MUSE: Motion planning for Multi UAV Surveillance (Metody plánování pohybu autonomních helikoptér v úlohách dohledu)

In the task of cooperative surveillance using Micro Aerial Vehicles (MAVs), MAVs cooperatively observe a given set of Areas of Interest by hovering in a suitable sensing location. In this project, we investigate methods for planning of surveillance missions in GPS denied environments. The MAVs are localized using a relative on-board visual-based locations. The the motion of MAVs is constrained due to requirements of the on-board localization system on mutual visibility of MAVs and limits of the relative distance. Positions of the team members have to be maintained in a given range in order to ensure proper function of the localization system and a safe flight. This requires to find an appropriate distribution of MAVs above the areas of interest and also feasible trajectories from a distant depot to reach these locations while keeping the onboard localization and MAV motion constraints.

Cooperation with Prof. Dr.-Ing. Dr. h.c. Heinz Wörn, Dipl.-Ing., Dipl.-Math., David Oertel and Dipl.-Ing. Sergej Neumann from Institut für Anthropomatik und Robotik (IAR) - Intelligente Prozessautomation und Robotik (IPR), Karlsruhe Institute of Technology, Germany.

Project supported by MSMT-Mobiltiy and DAAD.

Examples of trajectories constructed for four MAVs that start from the depot (bottom left) and have to visit to Area of Interest (top right). During the motions, MAVs have to maintain visibility so the on-board relative localization system can work.

P Levi, E Meister, A Rossum, T Krajník, V Vonásek, P Štěpán, W Liu and F Caparrelli. A Cognitive Architecture for Modular and Self-Reconfigurable Robots. In Proceedings of 8th Annual IEEE Systems Conference. 2014, 465–472. URL BibTeX

@inproceedings{levi2014cognitive,
	author = "Levi, P. and Meister, E. and van Rossum, A. and Krajn\'{i}k, T. and Von\'{a}sek, V. and \v{S}t\v{e}p\'{a}n, P. and Liu, W. and Caparrelli, F.",
	title = "{A Cognitive Architecture for Modular and Self-Reconfigurable Robots}",
	booktitle = "{Proceedings of 8th Annual IEEE Systems Conference}",
	publisher = "IEEE",
	address = "Piscataway",
	year = 2014,
	pages = "465--472",
	isbn = "978-1-4799-2086-0",
	issn = "1944-7620",
	language = "English",
	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6819298"
}

Vojtech Vonásek, Martin Saska, Lutz Winkler and Libor Preucil. High-level motion planning for CPG-driven modular robots. Robotics and Autonomous Systems 68(0):116 - 128, 2015. URL PDF BibTeX

@article{Vonasek2015high,
	title = "High-level motion planning for CPG-driven modular robots",
	journal = "Robotics and Autonomous Systems",
	volume = 68,
	number = 0,
	pages = "116 - 128",
	year = 2015,
	note = "",
	issn = "0921-8890",
	url = "http://www.sciencedirect.com/science/article/pii/S0921889015000147",
	author = "Vojtech Vonásek and Martin Saska and Lutz Winkler and Libor Preucil",
	keywords = "Central pattern generator",
	pdf = "data/papers/rasmod2015modular.pdf"
}

V Vonásek, L Winkler, J Liedke, M Saska, K Košnar and L Přeučil. Fast On-Board Motion Planning for Modular Robots. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014, 1215–1220. URL PDF BibTeX

@inproceedings{Vonasek14:221350,
	author = "Von\'{a}sek, V. and Winkler, L. and Liedke, J. and Saska, M. and Ko\v{s}nar, K. and P\v{r}eu\v{c}il, L.",
	title = "{Fast On-Board Motion Planning for Modular Robots}",
	booktitle = "{ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation}",
	publisher = "IEEE",
	address = "Piscataway",
	year = 2014,
	pages = "1215--1220",
	isbn = "978-1-4799-3684-7",
	language = "English",
	url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907008",
	pdf = "data/papers/Modular_Robots_ICRA2014-joined.pdf"
}

L Winkler, V Von\' asek, H Worn and L P\v reu\v cil. Robot3D - A Simulator for Mobile Modular Self-Reconfigurable Robots. In Proceedings of 2012 IEEE International Conference on Multisensor Fusion and Information Integration. 2012, 464–469. BibTeX

@inproceedings{winkler2012robot3d,
	author = "Winkler, L. and Von{\' a}sek, V. and Worn, H. and P{\v r}eu{\v c}il, L.",
	title = "{Robot3D - A Simulator for Mobile Modular Self-Reconfigurable Robots}",
	booktitle = "{Proceedings of 2012 IEEE International Conference on Multisensor Fusion and Information Integration}",
	publisher = "IEEE",
	address = "Piscataway",
	year = 2012,
	pages = "464--469",
	isbn = "978-1-4673-2511-0",
	language = "English"
}

Vojtech Vonasek, Sergej Neumann, David Oertel and Heinz Worn. Online motion planning for failure recovery of modular robotic systems. In Robotics and Automation (ICRA), 2015 IEEE International Conference on. May 2015, 1905-1910. PDF, DOI BibTeX

@inproceedings{vonasek15online,
	author = "Vonasek, Vojtech and Neumann, Sergej and Oertel, David and Worn, Heinz",
	booktitle = "Robotics and Automation (ICRA), 2015 IEEE International Conference on",
	title = "Online motion planning for failure recovery of modular robotic systems",
	year = 2015,
	month = "May",
	pages = "1905-1910",
	keywords = "Adaptation models;Joints;Maintenance engineering;Optimization;Planning;Robots;Three-dimensional displays",
	doi = "10.1109/ICRA.2015.7139447",
	pdf = "data/papers/icra2015modular.pdf"
}

Vojtě Vonásek, David Oertel, Sergej Neumann and Heinz Woern. Failure Recovery for Modular Robot Movements without Reassembling Modules. In 10th International Workshop on Robot Motion and Control (RoMoCo). 2015, . PDF BibTeX

@inproceedings{vonasek2013failure,
	title = "Failure Recovery for Modular Robot Movements without Reassembling Modules",
	author = "Von{\'a}sek, Vojt\v{e} and David Oertel and Sergej Neumann and Heinz Woern",
	booktitle = "10th International Workshop on Robot Motion and Control ({RoMoCo})",
	pages = "",
	year = 2015,
	organization = "",
	pdf = "data/papers/romoco2015failures.pdf"
}