Multi-UAV Active Simultaneous Localization and Mapping in Unknown Indoor Environments

如今，无人驾驶飞行器（UAV）（也称为无人机）在无数应用中变得至关重要。然而，大多数传统的商用无人机都是远程驾驶或半自主的，这给它们在具有挑战性的条件和时间紧迫的任务（例如，搜索和救援）。幸运的是，随着轻量级传感和复杂的实时计算的不断发展，无人机现在可以被设计成在执行任务时进行自我感知和自主决策。然而，下一代无人机只有在我们能够成功有效地部署全自主无人机机队以完成更复杂的任务和任务的情况下，才能达到宣传的目的。事实上，可以部署多架无人机来加速复杂的任务，同时协同测绘和探索未知环境。协作不仅可以加速绘图和勘探过程，还可以最大限度地减少决策过程中的不确定性。该研究项目旨在解决与设计用于在未知室内环境中导航的多无人机系统的高效可靠的定位、映射和探索算法相关的几个挑战。特别是，挑战在于部署一支无人机机队，依靠视觉和惯性系统，并赋予有限的机载计算能力，以尽可能快速有效地自主导航和绘制完全未知的环境。针对这一技术挑战，我们提出的解决方案包括在不同层次上融合控制系统和机器人技术的不同方法，以协调无人机组完成这一使命。该项目中概述的研究目标的实现将为在复杂环境中运行的全自主多无人机系统打开新的和令人兴奋的应用大门。这个项目也是一个很好的机会，在这些有前途的领域培养高素质的专业人才，他们可以成为研究和技术的领导者，维持加拿大的经济增长。

Nowadays, unmanned aerial vehicles (UAVs) (also known as drones) are becoming crucial in countless applications. However, most of the traditional commercial drones are remotely piloted or semi-autonomous which places obstacles in the way of their efficient deployment in challenging conditions and time-critical missions (e.g., search and rescue). Fortunately, with the unceasing development of lightweight sensing and sophisticated real-time computing, drones can now be designed to self-perceive and make autonomous decisions during the execution of tasks. Yet, the next generation of UAVs will be living up to the hype only if we are able to successfully and efficiently deploy fleets of fully autonomous UAVs to accomplish even more complex missions and tasks. In fact, multiple drones can be deployed to speed up complex missions while collaboratively mapping and exploring an unknown environment. Collaboration not only accelerates the mapping and exploration process but also minimizes uncertainty in decision making. This research project aims at addressing several challenges related to the design of efficient and reliable localization, mapping, and exploration algorithms for multi-UAV systems navigating in unknown indoor environments. In particular, the challenge consists in deploying a fleet of UAVs, relaying on vision and inertial systems and endowed with limited on-board computational power, to autonomously navigate and map a completely unknown environment as fast and efficiently as possible. Our proposed solution for this technology challenge consists in the amalgamation of different approaches in control systems and robotics at different levels to coordinate the group of UAVs to accomplish this mission. The accomplishment of the research goals outlined in this project will open doors to new and exciting applications for fully autonomous multi-UAV systems operating in tangled environments. This project is also an excellent opportunity to train highly qualified professionals in these promising fields who can become leaders in research and technology, sustaining Canada's economic growth.