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Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration
Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an explorati...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8103032/ https://www.ncbi.nlm.nih.gov/pubmed/33969000 http://dx.doi.org/10.3389/frobt.2021.614206 |
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author | Laclau, Pierre Tempez, Vladislav Ruffier, Franck Natalizio, Enrico Mouret, Jean-Baptiste |
author_facet | Laclau, Pierre Tempez, Vladislav Ruffier, Franck Natalizio, Enrico Mouret, Jean-Baptiste |
author_sort | Laclau, Pierre |
collection | PubMed |
description | Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses the measurement of the signal quality between two successive robots and an estimate of the ground speed based on an optic flow sensor. It leverages a distributed policy for each UAV and a Kalman filter to get reliable estimates of the signal quality. We evaluate our approach formally and in simulation, and we describe experimental results with a chain of 3 real miniature quadrotors (12 by 12 cm) and a base station. |
format | Online Article Text |
id | pubmed-8103032 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-81030322021-05-08 Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration Laclau, Pierre Tempez, Vladislav Ruffier, Franck Natalizio, Enrico Mouret, Jean-Baptiste Front Robot AI Robotics and AI Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses the measurement of the signal quality between two successive robots and an estimate of the ground speed based on an optic flow sensor. It leverages a distributed policy for each UAV and a Kalman filter to get reliable estimates of the signal quality. We evaluate our approach formally and in simulation, and we describe experimental results with a chain of 3 real miniature quadrotors (12 by 12 cm) and a base station. Frontiers Media S.A. 2021-04-23 /pmc/articles/PMC8103032/ /pubmed/33969000 http://dx.doi.org/10.3389/frobt.2021.614206 Text en Copyright © 2021 Laclau, Tempez, Ruffier, Natalizio and Mouret. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Laclau, Pierre Tempez, Vladislav Ruffier, Franck Natalizio, Enrico Mouret, Jean-Baptiste Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title | Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title_full | Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title_fullStr | Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title_full_unstemmed | Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title_short | Signal-Based Self-Organization of a Chain of UAVs for Subterranean Exploration |
title_sort | signal-based self-organization of a chain of uavs for subterranean exploration |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8103032/ https://www.ncbi.nlm.nih.gov/pubmed/33969000 http://dx.doi.org/10.3389/frobt.2021.614206 |
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