Swarm-based Subterranean Exploration

基于群体的地下探索

• 批准号: RTI-2020-00623
• 负责人: Beltrame, Giovanni
• 金额: $ 9.61万
• 依托单位: École Polytechnique de Montréal
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=693439
• 关键词: Swarm; based; Subterranean; Exploration

In this program we will develop robot swarms that collaborate to implement rapid mapping, localization, and navigation in limited-access and communication-restricted areas. To maximize the flexibility of our approach, we will consider a heterogeneous robotic team composed of both unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). The distinctive trait of our approach is the use of a dynamic, ad-hoc communication network, collaborative localization, and fully decentralized decision making and mapping.******We will focus on: ***1) Communication: to allow the robots to communicate as they explore and***map the environment, we will use gossip communication. Maps, tasks, and commands will be diffused using a robust approach similar to that of distributed databases, but requiring low bandwidth. A connectivity maintenance controller will be embedded in the robots, so that they can execute explore the environment without getting separated from the team and risk being lost;***2) Localization: we propose a decentralized collaborative localization approach based on range-only Ultra-Wide Band (UWB) sensors and vision that does not require any prior infrastructure. We will use communication to achieve a consensus on a global coordinate frame, UWB ranging for relative localization of the robots, and visual odometry for absolute localization in the environment;***3) Mapping: the mapping of the area will be achieved using a collaborative vision- and laser-based techniques, merging the sensed data into a single map. This map will then serve to locate hot spots, conduct searches, and locate the swarm with respect to points of interest. Our initial results in collaboration with the Masachussetts Institute of Technology are very promising.******Our research output will be tested in collaboration with the European Space Agency (ESA) and, possibly, the Canadian Space Agency (CSA) in the test site of Tiguaton, on the island of Lanzarote, Spain. We request four types of robots for performing our research on exploration and mapping of GPS-denied environments. As our research is axed on the collaboration between ground and aerial robots, we request both rovers and quadcopters. Recently, our team had a high degree of success in developing many swarm-robotics algorithms, many of which were tested on datasets or in laboratory conditions only because we don't have access to the equipment necessary for field deployment. Nowadays it is already a challenging to attract excellent students, therefore we believe we must provide them with equipment that allows to fully develop their research projects to have a substantial impact on the research landscape. Considering 8 students close to final year, time is of essence: advancements in the field may be lost without the requested equipment. In addition, students would be deprived of a unique learning opportunity in Tinguaton, and Canada would lose its only participant in the campaign.**

在这个项目中，我们将开发机器人群，这些机器人群可以在限制访问和通信受限的区域进行合作，以实现快速映射，定位和导航。为了最大限度地提高我们的方法的灵活性，我们将考虑由无人地面车辆（UGV）和无人机（UAV）组成的异构机器人团队。我们的方法的独特之处在于使用了动态的自组织通信网络、协作本地化以及完全分散的决策和映射。我们将专注于：*1）通信：为了让机器人在探索和绘制环境地图时进行通信，我们将使用八卦通信。地图、任务和命令将使用类似于分布式数据库的鲁棒方法进行传播，但需要低带宽。连接维护控制器将嵌入机器人中，以便它们可以执行探索环境，而不会与团队分离并冒着迷路的风险;*2）本地化：我们提出了一种基于仅范围超宽带（UWB）传感器和视觉的分散式协作本地化方法，不需要任何先前的基础设施。我们将使用通信来实现对全球坐标框架的共识，UWB测距用于机器人的相对定位，视觉测距用于环境中的绝对定位;*3）映射：该区域的映射将使用协作视觉和基于激光的技术来实现，将感测数据合并到单个地图中。然后，该地图将用于定位热点，进行搜索，并相对于感兴趣的点定位群。我们与Massetts Institute of Technology合作的初步成果非常有希望。**我们的研究成果将在西班牙兰萨罗特岛蒂瓜顿试验场与欧洲航天局（欧空局），可能还有加拿大航天局（加空局）合作进行测试。我们要求四种类型的机器人进行我们的研究探索和地图的GPS拒绝的环境。由于我们的研究是关于地面和空中机器人之间的合作，我们要求同时使用漫游车和四轴飞行器。最近，我们的团队在开发许多群集机器人算法方面取得了很大的成功，其中许多算法在数据集或实验室条件下进行了测试，只是因为我们无法获得现场部署所需的设备。如今，吸引优秀的学生已经是一个挑战，因此我们认为我们必须为他们提供设备，使他们能够充分发展他们的研究项目，对研究领域产生重大影响。 考虑到8名学生接近最后一年，时间是至关重要的：在该领域的进步可能会失去没有所要求的设备。 此外，学生将被剥夺在廷瓜顿的独特学习机会，加拿大将失去其在这场运动中的唯一参与者。