Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning

Nikolaos Giakoumidis, Jin U. Bak, Javier V. Gómez, Arber Llenga, Nikolaos Mavridis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012
Pages204-208
Number of pages5
DOIs
StatePublished - Dec 1 2012
Event10th International Conference on Frontiers of Information Technology, FIT 2012 - Islamabad, Pakistan
Duration: Dec 17 2012Dec 19 2012

Other

Other10th International Conference on Frontiers of Information Technology, FIT 2012
CountryPakistan
CityIslamabad
Period12/17/1212/19/12

Fingerprint

Unmanned aerial vehicles (UAV)
Motion planning
Mobile robots
Air
Robots
Hybrid systems
Navigation
Robotics
Rotors

Keywords

  • Hybrid robot
  • Pilot-scale
  • UAV
  • UGV

ASJC Scopus subject areas

  • Information Systems

Cite this

Giakoumidis, N., Bak, J. U., Gómez, J. V., Llenga, A., & Mavridis, N. (2012). Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning. In Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012 (pp. 204-208). [6424322] https://doi.org/10.1109/FIT.2012.43

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 proceedingConference contribution

Giakoumidis, N, Bak, JU, Gómez, JV, Llenga, A & Mavridis, N 2012, Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning. in Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012., 6424322, pp. 204-208, 10th International Conference on Frontiers of Information Technology, FIT 2012, Islamabad, Pakistan, 12/17/12. https://doi.org/10.1109/FIT.2012.43
Giakoumidis N, Bak JU, Gómez JV, Llenga A, Mavridis N. Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning. In Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012. 2012. p. 204-208. 6424322 https://doi.org/10.1109/FIT.2012.43
Giakoumidis, Nikolaos ; Bak, Jin U. ; Gómez, Javier V. ; Llenga, Arber ; Mavridis, Nikolaos. / Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning. Proceedings - 10th International Conference on Frontiers of Information Technology, FIT 2012. 2012. pp. 204-208
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