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Computer Science > Robotics

arXiv:2206.14289 (cs)
[Submitted on 28 Jun 2022]

Title:Stronger Together: Air-Ground Robotic Collaboration Using Semantics

Authors:Ian D. Miller, Fernando Cladera, Trey Smith, Camillo Jose Taylor, Vijay Kumar
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Abstract:In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real time by a high-altitude quadrotor. The ground robots choose and deconflict their targets independently, without any external intervention. Moreover, they perform cross-view localization by matching their local maps with the overhead map using semantics. The communication backbone is opportunistic and distributed, allowing the entire system to operate with no external infrastructure aside from GPS for the quadrotor. We extensively tested our system by performing different missions on top of our framework over multiple experiments in different environments. Our ground robots travelled over 6 km autonomously with minimal intervention in the real world and over 96 km in simulation without interventions.
Comments: Sumbitted to RA-L and IROS
Subjects: Robotics (cs.RO)
Cite as: arXiv:2206.14289 [cs.RO]
  (or arXiv:2206.14289v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2206.14289

Submission history

From: Ian Miller [view email]
[v1] Tue, 28 Jun 2022 20:59:54 UTC (8,640 KB)
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