Zhu, Xiaolong (Queensland University of Technology), Vanegas Alvarez, Fernando (Queensland University of Technology), Gonzalez, Luis Felipe (Queensland University of Technology (QUT)/ QUT Centre for Roboti), Sanderson, Conrad (Data61/CSIRO)

A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments

Scheduled for presentation during the Regular Session "UAS Applications II" (ThB4), Thursday, June 17, 2021, 14:20−14:40, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for Search and Rescue (SAR) and Remote Sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of multiple UAVs are used. We propose a framework for a team of UAVs to cooperatively explore and find a target in complex GPS-denied environments with obstacles. The team of UAVs autonomously navigates, explores, detects, and finds the target in a cluttered environment with a known map. Examples of such environments include indoor scenarios, urban or natural canyons, caves, and tunnels, where the GPS signal is limited or blocked. The framework is based on a probabilistic Decentralised Partially Observable Markov Decision Processes (Dec-POMDP) which accounts for the uncertainties in sensing and the environment. The team can cooperate efficiently, with each UAV sharing only limited processed observations and their locations during the mission. The system is simulated using the Robotic Operating System (ROS) and Gazebo. Performance of the system with an increasing number of UAVs in several indoor scenarios with obstacles is tested. Results indicate that the proposed multi-UAV system has improvements in terms of time-cost, the proportion of search area surveyed, and successful rates for search and rescue missions.