When every second counts: Multi-drone navigation in GPS-denied environments

分秒必争：GPS 无法识别的环境中的多无人机导航

• 批准号: DP200101640
• 负责人: Prof Luis Gonzalez
• 金额: $ 25.28万
• 依托单位: Queensland University of Technology
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2020
• 资助国家: 澳大利亚
• 起止时间: 2020-07-15 至 2023-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP200101640
• 关键词: When; every; second; counts; Multi

The aim of this research is to develop a framework for multiple Unmanned Aerial Vehicles (UAV), that balances information sharing, exploration, localization, mapping, and other planning objectives thus allowing a team of UAVs to navigate in complex environments in time critical situations. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining Simultaneous Localization and Mapping (SLAM) algorithms with Partially Observable Markov Decision Processes (POMDP) and Deep Reinforcement learning. This should provide significant benefits, such as more responsive search and rescue inside collapsed buildings or underground mines, as well as fast target detection and mapping under the tree canopy.

本研究的目的是为多架无人机（UAV）开发一个框架，平衡信息共享、探索、定位、测绘和其他规划目标，从而允许一队无人机在时间紧迫的复杂环境中导航。该项目希望通过将同步定位和映射（SLAM）算法与部分可观察马尔可夫决策过程（POMDP）和深度强化学习相结合的创新方法，在无人机导航中产生新的知识。这将带来显著的好处，例如在倒塌的建筑物或地下矿井内进行更快速的搜索和救援，以及在树冠下快速检测和绘制目标。