Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge
- Autoři: Ing. Matouš Vrba, Yurii Stasinchuk, Ing. Tomáš Báča, Ph.D., Ing. Vojtěch Spurný, Ph.D., Ing. Matěj Petrlík, Ing. Daniel Heřt, Žaitlík, D., doc. Ing. Martin Saska, Dr. rer. nat.,
- Publikace: Robotics and Autonomous Systems. 2022, 2022(149), ISSN 0921-8890.
- Rok: 2022
- DOI: 10.1016/j.robot.2021.103970
- Odkaz: https://doi.org/10.1016/j.robot.2021.103970
- Pracoviště: Multirobotické systémy
In this paper, a novel approach for autonomously catching fast flying objects is presented, as inspired by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. In this competition, an autonomous Unmanned Aerial Vehicle (UAV) was used to intercept a ball carried by a fast flying drone. The presented solution utilizes a 3D LiDAR sensor for quick and robust target detection. The trajectory of the target is estimated and predicted to select a suitable interception position. The interceptor UAV is navigated into the interception position to safely approach the target. The interception position is frequently being adjusted based on the updated estimation and prediction of the target’s motion to ensure that the ball is caught in the dedicated onboard net. After a successful interception is detected, the UAV lands in a designated landing area. The proposed concept was intensively tested and refined in demanding outdoor conditions with strong winds and varying perception conditions to achieve the robustness required by both the demanding application and the competition. In the MBZIRC 2020 competition, our solution scored second place in Challenge 1 and first place in a combined Grand Challenge. This manuscript will provide a detailed description of the applied methods and an evaluation of our approach with data collected from real-world experiments. In addition, we present achievements of our R&D towards the transition from the MBZIRC competition to an autonomous drone interceptor, which was the main motivation of this challenge.
A Multi-UAV System for Detection and Elimination of Multiple Targets
- Autoři: Yurii Stasinchuk, Ing. Matouš Vrba, Ing. Matěj Petrlík, Ing. Tomáš Báča, Ph.D., Ing. Vojtěch Spurný, Ph.D., Ing. Daniel Heřt, Žaitlík, D., Tiago Pereira do Nascimento, Ph.D., doc. Ing. Martin Saska, Dr. rer. nat.,
- Publikace: IEEE International Conference on Robotics and Automation (ICRA). IEEE Xplore, 2021. p. 555-561. ISSN 2577-087X. ISBN 978-1-7281-9077-8.
- Rok: 2021
- DOI: 10.1109/ICRA48506.2021.9562057
- Odkaz: https://doi.org/10.1109/ICRA48506.2021.9562057
- Pracoviště: Multirobotické systémy
The problem of safe interception of multiple intruder UAVs by a team of cooperating autonomous aerial vehicles is addressed in this paper. The presented work is motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where this task was simplified to an interaction with a set of static and dynamic objects (balloons and a UAV), and by a real autonomous aerial interception system of Eagle.One that our team has been working on. We propose a general control, perception, and coordination system for the fast and reliable interception of targets in a 3D environment relying only on onboard sensors and processing. The proposed methods and the entire complex multi-robot sys- tem were successfully verified in demanding desert conditions, with the main focus on reliability and fast deployment. In the MBZIRC competition, the proposed approach exhibited the greatest reliability and fastest solution. It was crucial to our team in winning the entire competition and achieving the second place in the intruder UAV interception scenario.