DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jaehyun | ko |
dc.contributor.author | Shim, David Hyunchul | ko |
dc.contributor.author | Cho, Sungwook | ko |
dc.contributor.author | Shin, Heemin | ko |
dc.contributor.author | Jung, Sunggoo | ko |
dc.contributor.author | Lee, Dasol | ko |
dc.contributor.author | Kang, Jaemin | ko |
dc.date.accessioned | 2019-08-05T02:20:09Z | - |
dc.date.available | 2019-08-05T02:20:09Z | - |
dc.date.created | 2019-01-30 | - |
dc.date.issued | 2019-08 | - |
dc.identifier.citation | JOURNAL OF FIELD ROBOTICS, v.36, no.5, pp.919 - 939 | - |
dc.identifier.issn | 1556-4959 | - |
dc.identifier.uri | http://hdl.handle.net/10203/263954 | - |
dc.description.abstract | In this study, we present a system that manages multiple unmanned aerial vehicles (UAVs) for a search, pickup, and drop mission in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). Three UAVs picked up and dropped 23 circular and rectangular targets into a designated drop box. To control the operation of three UAVs flying over an arena of 90 × 60 m, we designed and integrated a set of technologies into our system: airspace allocation, communication framework among UAVs, anticollision based on geofencing, and a token‐based prioritization for coordination. The proposed UAV system uses a single GPS and its error of a few meters is solved by means of the following component technologies: (a) flight path generator based on one reference point, (b) vision‐based redefinition of a reference point for GPS correction, and (c) calibration of flight path to update the reference point. The pickup‐and‐drop mission is conducted via color‐ and shape‐based vision processing and a magnetic gripper to pickup and drop‐off the targets. Our proposed system is able to successfully manage three UAVs, recognize targets on the ground, and drop the targets into a drop box in the drop zone. Finally, we achieved fourth place among 18 teams in Challenge 3. | - |
dc.language | English | - |
dc.publisher | WILEY | - |
dc.title | A mission management system for complex aerial logistics by multiple unmanned aerial vehicles in MBZIRC 2017 | - |
dc.type | Article | - |
dc.identifier.wosid | 000475466200004 | - |
dc.identifier.scopusid | 2-s2.0-85060915235 | - |
dc.type.rims | ART | - |
dc.citation.volume | 36 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 919 | - |
dc.citation.endingpage | 939 | - |
dc.citation.publicationname | JOURNAL OF FIELD ROBOTICS | - |
dc.identifier.doi | 10.1002/rob.21860 | - |
dc.contributor.localauthor | Shim, David Hyunchul | - |
dc.contributor.nonIdAuthor | Kang, Jaemin | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | aerial robotics | - |
dc.subject.keywordAuthor | cooperative robots | - |
dc.subject.keywordAuthor | MBZIRC | - |
dc.subject.keywordAuthor | multiple UAVs | - |
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