Información del artÃculo
Resumen
En este artículo se resumen los resultados obtenidos en el proyecto AWARE coordinado por el Grupo de Robótica Visión y Control (GRVC) de la Universidad de Sevilla y financiado por la Comisión Europea en el VI Programa Marco (IST-2006-33579). El artículo describe brevemente la arquitectura desarrollada para la cooperación autónoma descentralizada entre vehículos aéreos no tripulados, redes inalámbricas de sensores/actuadores y redes de cámaras en tierra. Todo el desarrollo fue validado mediante experimentos de campo con helicópteros equipados con dispositivos heterogéneos tales como cámaras visuales y de infrarrojos, e instrumentos para el transporte y despliegue de sensores y otras cargas.
Palabras clave:
Robótica aérea
Redes inalámbricas de sensores y actuadores
Arquitecturas descentralizadas
Texto completo
Referencias no citadas
Akyildiz et al., 2002, Bernard et al., 2011, Caballero et al., 2009, Caballero et al., 2008a, Caballero et al., 2008b, Capitan et al., 2009, Capitán et al., 2011, Dias and Stentz, 2002, Erman-Tuysuz et al., 2008, Gerkey and Matarić, 2002, Gil et al., 2007, Lemaire et al., 2004, Maza et al., 2010a, Maza et al., 2011a, Maza et al., 2011b, Maza et al., 2010b, Maza and Ollero, 2007, Ollero et al., 2005, Sanchez-Matamoros et al., 2009, Sukkarieh et al., 2003, Viguria et al., 2007, Viguria et al., 2008, Woo et al., 2003 and Xu et al., 2006.
Referencias
[Akyildiz et al., 2002]
I. Akyildiz, W. Su, Y. Sankarasubramaniam, E. Cayirci.
A survey on sensor networks.
IEEE Communications Magazine, 40 (2002), pp. 102-114
[Bernard et al., 2011]
Bernard, M., Kondak, K., Maza, I., Ollero, A., 2011. Autonomous transportation and deployment with aerial robots for search and rescue missions. Journal of Field Robotics 28 (6), 914-931. URL: http://dx.doi.org/10.1002/rob.20401 DOI: 10.1002/rob.20401.
[Caballero et al., 2009]
F. Caballero, L. Merino, J. Ferruz, A. Ollero.
Unmanned aerial vehicle localization based on monocular vision and online mosaicking.
Journal of Intelligent and Robotic Systems, 55 (2009), pp. 323-343
[Caballero et al., 2008a]
Caballero, F., Merino, L., Gil, P., Maza, I., Ollero, A., 2008a. A probabilistic framework for entire WSN localization using a mobile robot. Robotics and Autonomous Systems 56 (10), 798-806. URL: http://dx.doi.org/10.1016/j.robot.2008.06.003 DOI: 10.1016/j.robot.2008.06.003.
[Caballero et al., 2008b]
Caballero, F., Merino, L., Maza, I., Ollero, A., 2008b. A particle filtering method for wireless sensor network localization with an aerial robot beacon. In: Proceedings of the IEEE International Conference on Robotics and Automation. Pasadena, California, USA, pp. 596-601. URL: http://dx.doi.org/10.1109/ROBOT. 2008.4543271 DOI: 10.1109/ROBOT. 2008.4543271.
[Capitan et al., 2009]
Capitan, J., Merino, L., Caballero, F., Ollero, A., 2009. Delayed-State Information Filter for Cooperative Decentralized Tracking. In: Proceedings of the IEEE International Conference on Robotics and Automation. Kobe, Japan, pp. 3865-3870.
[Capitán et al., 2011]
Capitán, J., Merino, L., Caballero, F., Ollero, A., June 2011. Decentralized delayed-state information filter (ddsif): A new approach for cooperative decentralized tracking. Robotics and Autonomous Systems 56 (6), 376-388. DOI: http://dx.doi.org/10.1016/j.robot.2011.02.001.
[Dias and Stentz, 2002]
Dias, M.B., Stentz, A., 2002. Opportunistic optimization for market-based multirobot control. In: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland, pp. 2714-2720.
[Erman-Tuysuz et al., 2008]
A. Erman-Tuysuz, L. van Hoesel, J.P.H. Wu.
Enabling mobility in heterogeneous wireless sensor networks cooperating with uavs for missioncritical management.
IEEE Wireless Communications Magazine, 15 (2008), pp. 38-46
[Gerkey and Matarić, 2002]
B. Gerkey, M. Matarić.
Sold!: Auction methods for multi-robot coordination.
IEEE Transactions on Robotics and Automation, 18 (2002), pp. 758-768
[Gil et al., 2007]
Gil, P., Maza, I., Ollero, A., Marron, P.J., 2007. Data centric middleware for the integration of wireless sensor networks and mobile robots. In: Proceedings of the 7th Conference On Mobile Robots And Competitions. Paderne, Portugal.
[Lemaire et al., 2004]
T. Lemaire, R. Alami, S. Lacroix.
A distributed tasks allocation scheme in multi-UAV context.
In: Proceedings of the IEEE International Conference on Robotics and Automation. 4;, (2004), pp. 3622-3627
[Maza et al., 2010a]
Maza, I., Caballero, F., Capitan, J., de Dios, J.M., Ollero, A., July 2010a. Firemen monitoring with multiple UAVs for search and rescue missions. In: Proc. of the IEEE International Workshop on Safety, Security and Rescue Robotics. Bremen, Germany, pp. 1-6. URL: http://dx.doi.org/10.1109/SSRR. 2010.5981565 DOI: 10.1109/SSRR. 2010.5981565.
[Maza et al., 2011a]
Maza, I., Caballero, F., Capitan, J., de Dios, J.M., Ollero, A., 2011a. A distributed architecture for a robotic platform with aerial sensor transportation and self-deployment capabilities. Journal of Field Robotics 28 (3), 303-328. URL: http://dx.doi.org/10.1109/SSRR. 2010.5981565 DOI: 10.1109/SSRR. 2010.5981565.
[Maza et al., 2011b]
Maza, I., Caballero, F., Capitan, J., de Dios, J.M., Ollero, A., January 2011b. Experimental results in multi-UAV coordination for disaster management and civil security applications. Journal of Intelligent and Robotic Systems 61 (1), 563-585. URL: http://dx.doi.org/10.1007/s10846-010-9497-5 DOI: 10.1007/s10846-010-9497-5.
[Maza et al., 2010b]
Maza, I., Caballero, F., Molina, R., na, N.P., Ollero, A., 2010b. Multimodal interface technologies for UAV ground control stations. a comparative analysis. Journal of Intelligent and Robotic Systems 57 (1-4), 371-391. URL: http://dx.doi.org/10.1007/s10846-009-9351-9 DOI: 10.1007/s10846-009-9351-9.
[Maza and Ollero, 2007]
Maza, I., Ollero, A., 2007. Distributed Autonomous Robotic Systems 6. Vol. 6 of Distributed Autonomous Robotic Systems. Springer Verlag, Ch. Multiple UAV cooperative searching operation using polygon area decomposition and e_cient coverage algorithms, pp. 221-230.
[Ollero et al., 2005]
A. Ollero, S. Lacroix, L. Merino, J. Gancet, J. Wiklund, V. Remuss, I.V. Perez, L.G. Gutierrez, D.X. Viegas, M.A. Gonzalez, A. Mallet, R. Alami, R. Chatila, G. Hommel, F.J. Colmenero, B.C. Arrue, J. Ferruz, J. Martinezde Dios, F. Caballero.
Multiple eyes in the skies. architecture and perception issues in the COMETS unmanned air vehicles project.
IEEE Robotics and Automation Magazine, 12 (2005), pp. 46-57
[Sanchez-Matamoros et al., 2009]
Sanchez-Matamoros, J.M., Dios, J.R.M.-d., Ollero, A., april 2009. Cooperative localization and tracking with a camera-based wsn. In: Mechatronics, 2009. ICM 2009. IEEE International Conference on. pp. 1-6.
[Sukkarieh et al., 2003]
S. Sukkarieh, E. Nettleton, J.-H. Kim, M. Ridley, A. Goktogan, H. Durrant-Whyte.
The anser project: Data fusion across multiple uninhabited air vehicles.
The International Journal of Robotics Research, 22 (2003), pp. 505-539
[Viguria et al., 2007]
Viguria, A., Maza, I., Ollero, A., April 2007. SET: An algorithm for distributed multirobot task allocation with dynamic negotiation based on task subsets. In: Proceedings of the IEEE International Conference on Robotics and Automation. Rome, Italy, pp. 3339-3344. URL: http://dx.doi.org/10.1109/ROBOT. 2007.363988 DOI: 10.1109/ROBOT. 2007.363988.
[Viguria et al., 2008]
Viguria, A., Maza, I., Ollero, A., 2008. S+T: An algorithm for distributed multirobot task allocation based on services for improving robot cooperation. In: Proceedings of the IEEE International Conference on Robotics and Automation. Pasadena, California, USA, pp. 3163-3168. URL: http://dx.doi.org/10.1109/ROBOT. 2008.4543692 DOI: 10.1109/ROBOT. 2008.4543692.
[Woo et al., 2003]
Woo, A., Tong, T., Culler, D., 2003. Taming the underlying challenges of reliable multihop routing in sensor networks. In: 1st ACM Intl.Conf.on Embedded networked sensor systems. pp. 14-27. DOI: http://dx.doi.org/10.1145/958491.958494.
[Xu et al., 2006]
Xu, Y., Scerri, P., Sycara, K., Lewis, M., 2006. Comparing market and tokenbased coordination. In: International Joint Conference on Autonomous Agents and Multiagent Systems.