Deep Learning–based Reassembling of an Aerial & Legged Marsupial Robotic System–of–Systems
Deep Learning–based Reassembling of an Aerial & Legged Marsupial Robotic System–of–Systems
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DOI：
10.1109/icuas57906.2023.10155866
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发表时间：
2023-06
期刊：
影响因子：
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通讯作者：
Prateek Arora;Tolga Karakurt;Eleni S. Avlonitis;S. Carlson;Brandon Moore;David Feil-Seifer;C. Papachristos
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文献类型：
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作者：
Prateek Arora;Tolga Karakurt;Eleni S. Avlonitis;S. Carlson;Brandon Moore;David Feil-Seifer;C. Papachristos
在这项工作中，我们解决了由混合无人机和腿式运动机器人组成的有袋动物团队的系统重组操作，仅依赖于基于视觉的系统并由深度学习辅助。目标应用领域是在无线通信中断的情况下进行大规模的野外勘测作业。虽然多机器人系统的大多数现实世界的现场部署假设一定程度的无线通信来协调关键任务，如多智能体会合，一个理想的功能，防止不可恢复的通信故障或无线电退化，由于干扰网络攻击是自主系统的能力，以鲁棒地执行其使命与机载感知。这对于有袋动物空中/地面团队尤其如此，其中需要着陆在地面机器人上。我们提出了一个依赖于基于深度神经网络的车对车检测的管道，该管道基于在典型高度飞行获得的鸟瞰图，用于基于微型航空器的真实世界测量操作，例如在地面以上400英尺窗口的边界附近。我们提出了最小的计算和传感套件，支持其执行板载一个完全自主的微型倾转旋翼飞机检测，方法，并在船上的波士顿动力现货腿机器人土地。我们提出了广泛的实验研究，验证这种有袋动物的空中/地面机器人的能力，安全地重新组装，而在空中侦察阶段，而不需要无线通信。
In this work we address the System-of-Systems reassembling operation of a marsupial team comprising a hybrid Unmanned Aerial Vehicle and a Legged Locomotion robot, relying solely on vision-based systems and assisted by Deep Learning. The target application domain is that of large-scale field surveying operations under the presence of wireless communication disruptions. While most real-world field deployments of multi-robot systems assume some degree of wireless communication to coordinate key tasks such as multi-agent rendezvous, a desirable feature against unrecoverable communication failures or radio degradation due to jamming cyber-attacks is the ability for autonomous systems to robustly execute their mission with onboard perception. This is especially true for marsupial air / ground teams, wherein landing onboard the ground robot is required. We propose a pipeline that relies on Deep Neural Network-based Vehicle-to-Vehicle detection based on aerial views acquired by flying at typical altitudes for Micro Aerial Vehicle-based real-world surveying operations, such as near the border of the 400ft Above Ground Level window. We present the minimal computing and sensing suite that supports its execution onboard a fully autonomous micro-Tiltrotor aircraft which detects, approaches, and lands onboard a Boston Dynamics Spot legged robot. We present extensive experimental studies that validate this marsupial aerial / ground robot’s capacity to safely reassemble while in the airborne scouting phase without the need for wireless communication.