RI Homepage Carnegie Mellon Homepage RI Homepage

The Robotics Institute

Carnegie Mellon Robotics Institute

Air-Ground Collaborative Surveillance with Human-Portable Hardware

Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley, and Sanjiv Singh
AUVSI Unmanned Systems North America, August, 2011.


Download
  • Adobe portable document format (pdf) (10MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Coordination of unmanned aerial and ground vehicles (UAVs and UGVs) is immensely useful in a variety of surveillance and rescue applications, as the vehicles’ complementary strengths provide operating teams with enhanced mission capabilities. While many of today’s systems require independent control stations, necessitating arduous manual coordination between multiple operators, this paper presents a multi-robot collaboration system, jointly developed by iRobot Corporation and Carnegie Mellon University, which features a unified interface for controlling multiple unmanned vehicles. Semi-autonomous subtasks can be directly executed through this interface, including: single-click automatic visual target tracking, waypoint sequences, area search, and geo-location of tracked points of interest. Demonstrations of these capabilities on widely-deployed commercial unmanned vehicles are presented, including the use of UAVs as a communication relay for multi-kilometer, non-line-of-sight operation of UGVs.

Notes
Associated Project(s): UAV/UGV Air-Ground Collaboration

Text Reference
Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley, and Sanjiv Singh, "Air-Ground Collaborative Surveillance with Human-Portable Hardware," AUVSI Unmanned Systems North America, August, 2011.

BibTeX Reference
@inproceedings{Dille_2011_6896,
   author = "Michael Dille and Benjamin P Grocholsky and Stephen T. Nuske and Mark Moseley and Sanjiv Singh",
   title = "Air-Ground Collaborative Surveillance with Human-Portable Hardware",
   booktitle = "AUVSI Unmanned Systems North America",
   month = "August",
   year = "2011",
}

The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.
Contact Us | Update Instructions