Abstract
Traditionally, UAVs and Mobile Robots are viewed as two separate entities. However, upon closer examination of their synergies, a more unified conception of a closely-coupled system of the two could easily justify a view where both are just seen as separable parts of the body of a unitary hybrid symbiotic system - essentially, one robotic entity, whose body parts can separate temporarily, and get together again later. In this paper, we will describe a prototype system consisting of a small-scale indoor pilot version of a much larger outdoors full-scale system, as an illustration of this concept. Such indoor pilot versions have multiple advantages, as we shall show. In our prototype, a mobile robot UGV serves as a transport as well as recharge station for a lightweight quad-rotor UAV, while the UAV serves as a separable long-range vision system for the UGV, providing top-down views of its environment, which are stitched and transformed into maps, and which are utilized towards the navigation of the robot hybrid. Multiple avenues of extension of our system and the concept are also introduced, illustrating the power of the separable-body heterogeneous symbiotic multi-robot system concept.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012 |
| Pages | 204-208 |
| Number of pages | 5 |
| DOIs | |
| State | Published - Dec 1 2012 |
| Event | 10th International Conference on Frontiers of Information Technology, FIT 2012 - Islamabad, Pakistan Duration: Dec 17 2012 → Dec 19 2012 |
Other
| Other | 10th International Conference on Frontiers of Information Technology, FIT 2012 |
|---|---|
| Country | Pakistan |
| City | Islamabad |
| Period | 12/17/12 → 12/19/12 |
Fingerprint
Keywords
- Hybrid robot
- Pilot-scale
- UAV
- UGV
ASJC Scopus subject areas
- Information Systems
Cite this
Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning. / Giakoumidis, Nikolaos; Bak, Jin U.; Gómez, Javier V.; Llenga, Arber; Mavridis, Nikolaos.
Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012. 2012. p. 204-208 6424322.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning
AU - Giakoumidis, Nikolaos
AU - Bak, Jin U.
AU - Gómez, Javier V.
AU - Llenga, Arber
AU - Mavridis, Nikolaos
PY - 2012/12/1
Y1 - 2012/12/1
N2 - Traditionally, UAVs and Mobile Robots are viewed as two separate entities. However, upon closer examination of their synergies, a more unified conception of a closely-coupled system of the two could easily justify a view where both are just seen as separable parts of the body of a unitary hybrid symbiotic system - essentially, one robotic entity, whose body parts can separate temporarily, and get together again later. In this paper, we will describe a prototype system consisting of a small-scale indoor pilot version of a much larger outdoors full-scale system, as an illustration of this concept. Such indoor pilot versions have multiple advantages, as we shall show. In our prototype, a mobile robot UGV serves as a transport as well as recharge station for a lightweight quad-rotor UAV, while the UAV serves as a separable long-range vision system for the UGV, providing top-down views of its environment, which are stitched and transformed into maps, and which are utilized towards the navigation of the robot hybrid. Multiple avenues of extension of our system and the concept are also introduced, illustrating the power of the separable-body heterogeneous symbiotic multi-robot system concept.
AB - Traditionally, UAVs and Mobile Robots are viewed as two separate entities. However, upon closer examination of their synergies, a more unified conception of a closely-coupled system of the two could easily justify a view where both are just seen as separable parts of the body of a unitary hybrid symbiotic system - essentially, one robotic entity, whose body parts can separate temporarily, and get together again later. In this paper, we will describe a prototype system consisting of a small-scale indoor pilot version of a much larger outdoors full-scale system, as an illustration of this concept. Such indoor pilot versions have multiple advantages, as we shall show. In our prototype, a mobile robot UGV serves as a transport as well as recharge station for a lightweight quad-rotor UAV, while the UAV serves as a separable long-range vision system for the UGV, providing top-down views of its environment, which are stitched and transformed into maps, and which are utilized towards the navigation of the robot hybrid. Multiple avenues of extension of our system and the concept are also introduced, illustrating the power of the separable-body heterogeneous symbiotic multi-robot system concept.
KW - Hybrid robot
KW - Pilot-scale
KW - UAV
KW - UGV
UR - http://www.scopus.com/inward/record.url?scp=84874150996&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874150996&partnerID=8YFLogxK
U2 - 10.1109/FIT.2012.43
DO - 10.1109/FIT.2012.43
M3 - Conference contribution
AN - SCOPUS:84874150996
SN - 9780769549279
SP - 204
EP - 208
BT - Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012
ER -