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  Image-based road network clearing without localization and without maps using a team of UAVs

Gagliardi, M., Oriolo, G., Bülthoff, H., & Franchi, A. (2014). Image-based road network clearing without localization and without maps using a team of UAVs. In 13th European Control Conference (ECC 14) (pp. 1902-1908). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0027-809E-0 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-2D33-4
Genre: Conference Paper

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 Creators:
Gagliardi, Matteo1, 2, Author              
Oriolo, G, Author
Bülthoff, HH1, 2, Author              
Franchi, A, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: We address the problem of clearing an arbitrary and unknown network of roads using an organized team of Unmanned Aerial Vehicles (UAVs) equipped with a monocular down-facing camera, an altimeter, plus high-bandwidth short-range and low-bandwidth long-range communication systems. We allow the UAVs to possibly split in several subgroups. In each subgroup a leader guides the motion employing a hier- archical coordination. A feature/image-based algorithm guides the subgroup toward the unexplored region without any use of global localization or environmental mapping. At the same time all the entry-points of the the explored region are kept under control, so that any moving object that enters or exits the previously cleared area. Simulative results on real aerial images demonstrate the functionalities and the effectiveness of the proposed algorithm.

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 Dates: 2014-06
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ECC.2014.6862560
BibTex Citekey: GagliardiOBF2014
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Title: 13th European Control Conference (ECC 14)
Place of Event: Strasbourg, France
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Title: 13th European Control Conference (ECC 14)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1902 - 1908 Identifier: ISBN: 978-3-9524269-1-3