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Autonomous Robots

Erschienen in:

21.10.2022

Decentralized swarms of unmanned aerial vehicles for search and rescue operations without explicit communication

verfasst von: Jiri Horyna, Tomas Baca, Viktor Walter, Dario Albani, Daniel Hert, Eliseo Ferrante, Martin Saska

Erschienen in: Autonomous Robots | Ausgabe 1/2023

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Abstract

In this paper, we introduce a distributed autonomous flocking behavior of Unmanned Aerial Vehicles (UAVs) in demanding outdoor conditions, motivated by search and rescue applications. We propose a novel approach for decentralized swarm navigation in the direction of a candidate object of interest (OOI) based on real-time detections from onboard RGB cameras. A novel self-adaptive communication strategy secures an efficient change of swarm azimuth to a higher priority direction based on the real-time detections. We introduce a local visual communication channel that establishes a network connection between neighboring robots without explicit communication to achieve high reliability and scalability of the system. As a case study, this novel method is applied for the deployment of a UAV swarm towards detected OOI for closer inspection and verification. The results of simulations and real-world experiments have verified the intended behavior of the swarm system for the detection of true positive and false positive OOI, as well as for cooperative environment exploration.

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Titel: Decentralized swarms of unmanned aerial vehicles for search and rescue operations without explicit communication
verfasst von: Jiri Horyna
Tomas Baca
Viktor Walter
Dario Albani
Daniel Hert
Eliseo Ferrante
Martin Saska
Publikationsdatum: 21.10.2022
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 1/2023
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-022-10066-5

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