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Erschienen in:
2016 | OriginalPaper | Buchkapitel
A Collaborative Framework for 3D Mapping Using Unmanned Aerial Vehicles
verfasst von : Patrick Doherty, Jonas Kvarnström, Piotr Rudol, Marius Wzorek, Gianpaolo Conte, Cyrille Berger, Timo Hinzmann, Thomas Stastny
Erschienen in: PRIMA 2016: Principles and Practice of Multi-Agent Systems
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Abstract
This paper describes an overview of a generic framework for collaboration among humans and multiple heterogeneous robotic systems based on the use of a formal characterization of delegation as a speech act. The system used contains a complex set of integrated software modules that include delegation managers for each platform, a task specification language for characterizing distributed tasks, a task planner, a multi-agent scan trajectory generation and region partitioning module, and a system infrastructure used to distributively instantiate any number of robotic systems and user interfaces in a collaborative team. The application focusses on 3D reconstruction in alpine environments intended to be used by alpine rescue teams. Two complex UAV systems used in the experiments are described. A fully autonomous collaborative mission executed in the Italian Alps using the framework is also described.