Portrait of UAV/UGV Air-Ground Collaboration
Head: Benjamin P Grocholsky
Contact: Sanjiv Singh
Associated Lab: Field Robotics Center (FRC)
Last Project Publication Year: 2020

This project is concerned with the development of a distributed estimation system of collaborating UAVs (Unmanned Aerial Vehicle) and AGVs (Autonomous Ground Vehicles) that detect, track and estimate the location of a person, vehicle or object of interest on the ground. The collaborating team executes search, pursuit and localization strategies to improve the estimate of the target’s location. The project goal is to deliver autonomy that increases situational awareness in reconnaissance tasks while reducing operator workload.

The mission for the collaborating team starts with a small UAV with downward facing camera flying above the target. The camera streams video and telemetry information via a radio link down to a ground station where a human user will select the target of interest in the image. Once selected the UAV will continue to track the target in the camera images maintaining an estimate of the target’s location. The target’s location is communicated to the rest of the team of autonomous agents which then move into position to observe the target.

Displaying 2 Publications
Master's Thesis, Tech. Report, CMU-RI-TR-20-25, Robotics Institute, Carnegie Mellon University, August, 2020
Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley, and Sanjiv Singh
Conference Paper, Proceedings of AUVSI Unmanned Systems North America Conference: Unmanned Teaming, pp. 826 - 845, August, 2011