HMAS: enabling seamless collaboration between drones, quadruped robots, and human operators with efficient spatial awareness
CoRR(2023)
摘要
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled
and legged terrestrial robots) provide rich and complementary functions that
may help human operators to accomplish complex tasks in unknown environments.
However, seamlessly integrating heterogeneous agents and making them interact
and collaborate still arise challenging issues. In this paper, we define a ROS
2 based software architecture that allows to build incarnated heterogeneous
multi-agent systems (HMAS) in a generic way. We showcase its effectiveness
through a scenario integrating aerial drones, quadruped robots, and human
operators (see https://youtu.be/iOtCCticGuk). In addition, agent spatial
awareness in unknown outdoor environments is a critical step for realizing
autonomous individual movements, interactions, and collaborations. Through
intensive experimental measurements, RTK-GPS is shown to be a suitable solution
for achieving the required locating accuracy.
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