NDLI: Pilot-Scale Development of a UAV-UGV Hybrid with Air-Based UGV Path Planning

Content Provider	IEEE Xplore Digital Library
Author	Giakoumidis, N. Bak, J.U. Gomez, J.V. Llenga, A. Mavridis, N.
Copyright Year	2012
Abstract	Traditionally, UAVs and Mobile Robots are viewed as two separate entities. However, upon closer examination of their synergies, a more unified conception of a closely-coupled system of the two could easily justify a view where both are just seen as separable parts of the body of a unitary hybrid symbiotic system -- essentially, one robotic entity, whose body parts can separate temporarily, and get together again later. In this paper, we will describe a prototype system consisting of a small-scale indoor pilot version of a much larger outdoors full scale system, as an illustration of this concept. Such indoor pilot versions have multiple advantages, as we shall show. In our prototype, a mobile robot UGV serves as a transport as well as recharge station for a lightweight quad-rotor UAV, while the UAV serves as a separable long-range vision system for the UGV, providing top-down views of its environment, which are stitched and transformed into maps, and which are utilized towards the navigation of the robot hybrid. Multiple avenues of extension of our system and the concept are also introduced, illustrating the power of the separable-body heterogeneous symbiotic multi-robot system concept.
Starting Page	204
Ending Page	208
File Size	290209
Page Count	5
File Format	PDF
ISBN	9781467349468
e-ISBN	9780769549279
DOI	10.1109/FIT.2012.43
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-17
Publisher Place	Pakistan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Hybrid robot Robot kinematics UGV Robot sensing systems Cameras Land vehicles UAV Mobile robots Pilot-scale
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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