ICUAS'17 Paper Abstract

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Paper ThC1.1

Perez-Grau, Francisco Javier (Center for Advanced Aerospace Technologies (CATEC)), Ragel, Ricardo (Universidad de Sevilla), Caballero, Fernando (University of Seville), Viguria, Antidio (FADA-CATEC), Ollero, Anibal (Universidad de Sevilla)

Semi-Autonomous Teleoperation of UAVs in Search and Rescue Scenarios

Scheduled for presentation during the "Micro- and Mini- UAS - III" (ThC1), Thursday, June 15, 2017, 15:40−16:00, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords Micro- and Mini- UAS, Sensor Fusion, UAS Applications

Abstract

Unmanned Aerial Vehicles (UAVs) exhibit great agility and usually require a trained pilot to operate them, while being restricted to line-of-sight range. This prevents their wide introduction in applications such as inspection for disaster scenarios. Our goal is to enable rescue teams untrained in piloting to teleoperate a UAV as an aid to their mission, while being able to focus on the task at hand. The assisted teleoperation of a small UAV is presented in this work, within a framework to perform localization and state estimation of the UAV without any external positioning system (e.g. GPS) and perform autonomous local obstacle avoidance. The computational efficiency of the whole processing pipeline allows for real-time operation. Field experiments have been conducted in a realistic mock-up using an indoor testbed with a very accurate tracking system in order to validate the algorithms.

 

 

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