On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries
The MAV ’08 competition focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate gr...
| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Sage Publications
2010
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| Online Access: | http://hdl.handle.net/1721.1/58969 https://orcid.org/0000-0002-4959-7368 https://orcid.org/0000-0002-8293-0492 |
| _version_ | 1826201520024059904 |
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| author | He, Ruijie Bachrach, Abraham Galton Prentice, Samuel James Roy, Nicholas Achtelik, Michael Gurdan, Daniel Stumpf, Jan |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory He, Ruijie Bachrach, Abraham Galton Prentice, Samuel James Roy, Nicholas Achtelik, Michael Gurdan, Daniel Stumpf, Jan |
| author_sort | He, Ruijie |
| collection | MIT |
| description | The MAV ’08 competition focused on the problem
of using air and ground vehicles to locate and rescue hostages
being held in a remote building. To execute this mission, a number
of technical challenges were addressed, including designing the
micro air vehicle (MAV), using the MAV to geo-locate ground
targets, and planning the motion of ground vehicles to reach the
hostage location without detection.
In this paper, we describe the complete system designed for
the MAV ’08 competition, and present our solutions to three
technical challenges that were addressed within this system. First,
we summarize the design of our micro air vehicle, focusing on the
navigation and sensing payload. Second, we describe the vision
and state estimation algorithms used to track ground features,
including stationary obstacles and moving adversaries, from a
sequence of images collected by the MAV. Third, we describe
the planning algorithm used to generate motion plans for the
ground vehicles to approach the hostage building undetected by
adversaries; these adversaries are tracked by the MAV from
the air. We examine different variants of a search algorithm and
describe their performance under different conditions. Finally, we
provide results of our system’s performance during the mission
execution. |
| first_indexed | 2024-09-23T11:52:44Z |
| format | Article |
| id | mit-1721.1/58969 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:52:44Z |
| publishDate | 2010 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/589692022-10-01T06:40:13Z On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries He, Ruijie Bachrach, Abraham Galton Prentice, Samuel James Roy, Nicholas Achtelik, Michael Gurdan, Daniel Stumpf, Jan Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Roy, Nicholas He, Ruijie Bachrach, Abraham Galton Prentice, Samuel James Roy, Nicholas The MAV ’08 competition focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate ground targets, and planning the motion of ground vehicles to reach the hostage location without detection. In this paper, we describe the complete system designed for the MAV ’08 competition, and present our solutions to three technical challenges that were addressed within this system. First, we summarize the design of our micro air vehicle, focusing on the navigation and sensing payload. Second, we describe the vision and state estimation algorithms used to track ground features, including stationary obstacles and moving adversaries, from a sequence of images collected by the MAV. Third, we describe the planning algorithm used to generate motion plans for the ground vehicles to approach the hostage building undetected by adversaries; these adversaries are tracked by the MAV from the air. We examine different variants of a search algorithm and describe their performance under different conditions. Finally, we provide results of our system’s performance during the mission execution. United States. Army Research Office (MAST CTA) Singapore. Armed Forces United States. Air Force Office of Scientific Research (contract # F9550-06-C-0088) Aurora Flight Sciences Corp. Boeing Company National Energy Research Scientific Computing Center (U.S.) National Science Foundation (U.S.). Division of Information and Intelligent Systems (grant # 0546467) Massachusetts Institute of Technology. Air Vehicle Research Center (MAVRC) 2010-10-08T15:15:17Z 2010-10-08T15:15:17Z 2010-09 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/58969 Ruijie He et al. “On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries.” The International Journal of Robotics Research 29.5 (2010): 529 -546. https://orcid.org/0000-0002-4959-7368 https://orcid.org/0000-0002-8293-0492 en_US http://dx.doi.org/10.1177/0278364909348805 International Journal of Robotics Research Attribution-Noncommercial-Share Alike 3.0 Unported http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | He, Ruijie Bachrach, Abraham Galton Prentice, Samuel James Roy, Nicholas Achtelik, Michael Gurdan, Daniel Stumpf, Jan On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title | On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title_full | On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title_fullStr | On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title_full_unstemmed | On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title_short | On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries |
| title_sort | on the design and use of a micro air vehicle to track and avoid adversaries |
| url | http://hdl.handle.net/1721.1/58969 https://orcid.org/0000-0002-4959-7368 https://orcid.org/0000-0002-8293-0492 |
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