Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction
This article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous construction. In particular, the UAVs have to build a wall made of bricks that need to be picked and transported from different locations. First, we propose a novel architecture fo...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9314142/ |
| _version_ | 1818915111829504000 |
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| author | Fran Real Angel R. Castano Arturo Torres-Gonzalez Jesus Capitan Pedro J. Sanchez-Cuevas Manuel J. Fernandez Manuel Villar Anibal Ollero |
| author_facet | Fran Real Angel R. Castano Arturo Torres-Gonzalez Jesus Capitan Pedro J. Sanchez-Cuevas Manuel J. Fernandez Manuel Villar Anibal Ollero |
| author_sort | Fran Real |
| collection | DOAJ |
| description | This article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous construction. In particular, the UAVs have to build a wall made of bricks that need to be picked and transported from different locations. First, we propose a novel architecture for multi-robot systems operating in outdoor and unstructured environments, where robustness and reliability play a key role. Then, we describe the design of our aerial platforms and grasping mechanisms to pick, transport and place bricks. The system was particularly developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), where Challenge 2 consisted of building a wall cooperatively with multiple UAVs. However, our approach is more general and extensible to other multi-UAV applications involving physical interaction, like package delivery. We present not only our results in the final stage of MBZIRC, but also our simulations and field experiments throughout the previous months to the competition, where we tuned our system and assessed its performance. |
| first_indexed | 2024-12-19T23:57:05Z |
| format | Article |
| id | doaj.art-223b58dcf7b645d5b89766951f68fc47 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T23:57:05Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-223b58dcf7b645d5b89766951f68fc472022-12-21T20:00:58ZengIEEEIEEE Access2169-35362021-01-0196817683510.1109/ACCESS.2021.30494339314142Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative ConstructionFran Real0Angel R. Castano1https://orcid.org/0000-0002-6235-9524Arturo Torres-Gonzalez2https://orcid.org/0000-0003-0155-7671Jesus Capitan3https://orcid.org/0000-0002-7534-0187Pedro J. Sanchez-Cuevas4https://orcid.org/0000-0001-9791-4148Manuel J. Fernandez5Manuel Villar6Anibal Ollero7https://orcid.org/0000-0003-2155-2472GRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainGRVC Robotics Laboratory, University of Seville, Seville, SpainThis article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous construction. In particular, the UAVs have to build a wall made of bricks that need to be picked and transported from different locations. First, we propose a novel architecture for multi-robot systems operating in outdoor and unstructured environments, where robustness and reliability play a key role. Then, we describe the design of our aerial platforms and grasping mechanisms to pick, transport and place bricks. The system was particularly developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), where Challenge 2 consisted of building a wall cooperatively with multiple UAVs. However, our approach is more general and extensible to other multi-UAV applications involving physical interaction, like package delivery. We present not only our results in the final stage of MBZIRC, but also our simulations and field experiments throughout the previous months to the competition, where we tuned our system and assessed its performance.https://ieeexplore.ieee.org/document/9314142/Multirobot systemsunmanned aerial vehiclesconstruction |
| spellingShingle | Fran Real Angel R. Castano Arturo Torres-Gonzalez Jesus Capitan Pedro J. Sanchez-Cuevas Manuel J. Fernandez Manuel Villar Anibal Ollero Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction IEEE Access Multirobot systems unmanned aerial vehicles construction |
| title | Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction |
| title_full | Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction |
| title_fullStr | Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction |
| title_full_unstemmed | Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction |
| title_short | Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction |
| title_sort | experimental evaluation of a team of multiple unmanned aerial vehicles for cooperative construction |
| topic | Multirobot systems unmanned aerial vehicles construction |
| url | https://ieeexplore.ieee.org/document/9314142/ |
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