Perception-aware Exploration for Consumer-grade UAVs
By: Svetlana Seliunina, Daniel Schleich, Sven Behnke
Potential Business Impact:
Drones map unknown places safely, even cheap ones.
In our work, we extend the current state-of-the-art approach for autonomous multi-UAV exploration to consumer-level UAVs, such as the DJI Mini 3 Pro. We propose a pipeline that selects viewpoint pairs from which the depth can be estimated and plans the trajectory that satisfies motion constraints necessary for odometry estimation. For the multi-UAV exploration, we propose a semi-distributed communication scheme that distributes the workload in a balanced manner. We evaluate our model performance in simulation for different numbers of UAVs and prove its ability to safely explore the environment and reconstruct the map even with the hardware limitations of consumer-grade UAVs.
Similar Papers
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
Robotics
Robot sees and maps new places with one eye.
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
Robotics
Drones fly smarter and smoother in any space.
Heterogeneous Multi-agent Collaboration in UAV-assisted Mobile Crowdsensing Networks
Machine Learning (CS)
Drones collect more data by planning better.