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ICRA 2019
Workshop on The Future of Aerial Robotics: Challenges and
Opportunities
Coordination and mission planning for
UAV - UGV teams
Stjepan Bogdan
University of Zagreb
Croatia
Laboratory for Robotics and Intelligent
Control Systems
larics.fer.hr
1/12
2/12
ICRA 2019, Montreal
Credits go to:
Barbara Arbanas
Antun Ivanovic
Marko Car
Prof. Matko Orsag
Prof. Tamara Petrovic
High-level mission planning
a decentralized hierarchical planning method able to construct and
coordinate, in real-time, feasible team plans for a given map of the
environment and a given mission,
feasible missions should be optimized (e.g. min energy)
Low-level control
a vision-based localization of agents,
trajectory planning and localization should enable flights in narrow
corridors, while re-planning trajectories on-board agents in real-time.
Requirements
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ICRA 2019, Montreal
Mission decomposition and planning
- a mission is comprised of tasks (ti) and actions (ai) (TEAMS structure)
ai (qi, di, ci)
quality duration cost
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ICRA 2019, Montreal
ti (qi, di, ci) – represents a set of actions (tasks)
=> specified by the system designer
- precedence constraints on different (actions) tasks
en(ta, tb) => ta should be executed prior to tb, ta enables tb
determined using the quality accumulation function
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ICRA 2019, Montreal
Mission decomposition and planning
Example: two agents (UAV + UGV) in package transportation mission
Mission decomposition and planning
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ICRA 2019, Montreal
Actions
Mission decomposition in tasks
(case with N obstacles)
Example: two agents (UAV + UGV) in package transportation mission
Mission decomposition and planning
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ICRA 2019, Montreal
Task decomposition
Example: two agents (UAV + UGV) in package transportation mission
UAV
UGV
Mission cost (c) = > Energy budget
Takeoff (A1), Land (A2),
Move to desired position — Fly (A3), Drive (A4)
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ICRA 2019, Montreal
System classification with regard to mass
Energy requirements
Example: two agents (UAV + UGV) in package transportation mission
UAV
UAV + UGV
Task alternatives
Optimal
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ICRA 2019, Montreal
Mission cost (c) = > Energy budget
Example: two agents (UAV + UGV) in package transportation mission
Experimental results - indoor
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ICRA 2019, Montreal
European Robotics League
February 2019, Seville
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ICRA 2019, Montreal
Map built by UGV
Map built by UAV
Experimental results - outdoor
Thank you.
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ICRA 2019, Montreal
