Outdoor Experiments

Real experiences with a fleet of autonomous UAVs!

What is planned?

A fundamental part of the 2022 IEEE RAS Summer School on Multi-Robot Systems is the real-world deployment of a group of autonomous Unmanned Aerial Vehicles (UAVs). The UAVs will be provided by the Multi-Robot Systems Group at CTU in Prague. The fleet of UAVs will be controlled by a system for tasks of closely cooperating drones, designed by the Multi-Robot Systems group at CTU in Prague. The system has been published [1] and is provided as open-source software at github.com/ctu-mrs/mrs_uav_system. Participants of the Summer School will get an opportunity to design algorithms for Multi-Robot Systems, test them during computer practicals in a Gazebo simulator and verify their functionality during the real-world deployment of a group of cooperating UAVs (planned on Friday, 5th of August). This year's task will focus on outdoor multi-robot inspection in 3D. Attendees will get hands-on experience by preparing algorithms for multi-UAV allocation and planning. We strongly recommend studying the provided literature [1-3] for all participants before the summer school to maximise possible impact. After registration, participants will receive technical details about the tasks, access to a repository with a control system, and guidelines to facilitate the first steps. The outdoor experiments will be held at Císařský ostrov (Emperor Island) on the Vltava river, as seen below. For more information, see here.

Multi-UAV inspection of electrical transition lines

An offline/online solution of Multi-UAV inspection motivated by Aerial-Core project will be designed by students and tested in real-world outdoor conditions with a fleet of 2-4 autonomous UAVs. For examples of realisation of such experiments with the MRS system, see [4-13].
Videos:

DARPA SubT MRS X500

An experimental platform designed for DARPA SubTChallenge at CTU in Prague will be used for experiments with a fleet of UAVs. Students will be provided by a simulation environment in Gazebo and a model of MRS X500 that was used by all teams that succeded at DARPA SubT Virtual Challenge. For examples of experiments with the MRS X500, see [14-19].
Videos:

References

[1] Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. PDF BibTeX

@article{baca2021mrs, author = {Baca, Tomas and Petrlik, Matej and Vrba, Matous and Spurny, Vojtech and Penicka, Robert and Hert, Daniel and Saska, Martin}, doi = {10.1007/s10846-021-01383-5}, issue = {1}, journal = {{Journal of Intelligent {\&} Robotic Systems}}, month = {05}, number = {26}, pages = {1--28}, publisher = {Springer}, title = {{The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles}}, type = {article}, url = {https://link.springer.com/article/10.1007/s10846-021-01383-5}, volume = {102}, year = {2021}, }

[2] P Petráček, V Krátký and M Saska. Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments. IEEE Robotics and Automation Letters 5(2):2078-2085, April 2020. PDF BibTeX

@article{petracek2020dronument, author = {Petracek, P. and Kratky, V. and Saska, M.}, doi = {10.1109/LRA.2020.2969935}, issn = {2377-3774}, journal = {IEEE Robotics and Automation Letters}, month = {4}, number = {2}, pages = {2078-2085}, title = {Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments}, type = {article}, volume = {5}, year = {2020}, }

[3] V Krátký, P Petráček, V Spurný and M Saska. Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 5(2):2302-2309, April 2020. PDF BibTeX

@article{kratky2020autonomous, author = {Kratky, V and Petracek, P and Spurny, V and Saska, M}, doi = {10.1109/LRA.2020.2970646}, journal = {IEEE Robotics and Automation Letters}, month = {4}, number = {2}, pages = {2302-2309}, title = {Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles}, type = {article}, volume = {5}, year = {2020}, }

[4] Giuseppe Silano, Tomas Baca, Robert Penicka, Davide Liuzza and Martin Saska. Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications. IEEE Robotics and Automation Letters 6(2):4169–4176, April 2021. PDF BibTeX

@article{Silano2021RAL, author = "{Silano}, Giuseppe and {Baca}, Tomas and {Penicka}, Robert and {Liuzza}, Davide and {Saska}, Martin", title = "{Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications}", journal = "IEEE Robotics and Automation Letters", year = 2021, pages = "4169--4176", volume = 6, number = 2, month = "April", doi = "10.1109/LRA.2021.3068114", pdf = "data/papers/Silano2021RAL.pdf" }

[5] Vít Krátký, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek and Martin Saska. Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle. ISPRS International Journal of Geo-Information 10(11):738/1–16, October 2021. PDF BibTeX

@article{kratky2021documentation, author = "Krátký, Vít and Petráček, Pavel and Nascimento, Tiago and Čadilová, Michaela and Škobrtal, Milan and Stoudek, Pavel and Saska, Martin", title = "Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle", journal = "ISPRS International Journal of Geo-Information", volume = 10, year = 2021, month = "October", number = 11, pages = "738/1--16", issn = "2220-9964", pdf = "data/papers/kratky2021dronument.pdf", doi = "10.3390/ijgi10110738" }

[6] Lyubomyr Demkiv, Massimiliano Ruffo, Giuseppe Silano, Jan Bednar and Martin Saska. An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs. TIn 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). October 2021, 1–8. PDF BibTeX

@inproceedings{Silano2021AIRPHARO, author = "{Demkiv}, Lyubomyr and {Ruffo}, Massimiliano and {Silano}, Giuseppe and {Bednar}, Jan and {Saska}, Martin", booktitle = "2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)", title = "{An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs}", year = 2021, month = "October", pdf = "data/papers/airpharo_2021_Silano.pdf", organization = "IEEE", pages = "1--8", doi = "10.1109/AIRPHARO52252.2021.9571025" }

[7] Daniel Bonilla Licea, Giuseppe Silano, Ghogho Mounir and Martin Saska. Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations. In 29th European Signal Processing Conference (EUSIPCO). September 2021, 1586–1590. PDF BibTeX

@inproceedings{Silano2021EUSIPCO, author = "{Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Mounir}, Ghogho and {Saska}, Martin", booktitle = "29th European Signal Processing Conference (EUSIPCO)", title = "{Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations}", year = 2021, month = "September", pages = "1586--1590", doi = "10.23919/EUSIPCO54536.2021.9616232", pdf = "data/papers/EUSIPCO_2021.pdf" }

[8] Vít Krátký, Alfonso Alcántara, Jesús Capitán, Petr Štěpán, Martin Saska and Aníbal Ollero. Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7580-7587, October 2021. PDF BibTeX

@article{kratky2021aerialfilming, author = "{Krátký}, Vít and {Alcántara}, Alfonso and {Capitán}, Jesús and {Štěpán}, Petr and {Saska}, Martin and {Ollero}, Aníbal", title = "{Autonomous Aerial Filming with Distributed Lighting by a Team of Unmanned Aerial Vehicles}", journal = "IEEE Robotics and Automation Letters", year = 2021, month = "October", pdf = "data/papers/aerialCinematographyRal.pdf", doi = "10.1109/LRA.2021.3098811", pages = "7580-7587", volume = 6, number = 4 }

[9] František Nekovář, Jan Faigl and Martin Saska. Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection. IEEE Robotics and Automation Letters 6(4):6196-6203, October 2021. PDF BibTeX

@article{Nekovar2021CASE, author = "{Nekovář}, František and {Faigl}, Jan and {Saska}, Martin", title = "{Multi-tour Set Traveling Salesman Problem in Planning Power Transmission Line Inspection}", journal = "IEEE Robotics and Automation Letters", pdf = "data/papers/Frantisek_RAL-CASE21.pdf", year = 2021, month = "October", doi = "10.1109/LRA.2021.3091695", pages = "6196-6203", volume = 6, number = 4 }

[10] P Štibinger, G Broughton, F Majer, Z Rozsypálek, A Wang, K Jindal, A Zhou, D Thakur, G Loianno, T Krajník and M Saska. Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment. IEEE Robotics and Automation Letters 6(2):2595–2602, April 2021. PDF BibTeX

@article{stibinger2021ral, author = "\v{S}tibinger, P. and Broughton, G. and Majer, F. and Rozsyp\'{a}lek, Z and Wang, A. and Jindal, K and Zhou, A. and Thakur, D. and Loianno, G. and Krajn\'{i}k, T. and Saska, M.", journal = "IEEE Robotics and Automation Letters", title = "{Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment}", year = 2021, volume = 6, number = 2, pages = "2595--2602", doi = "10.1109/LRA.2021.3061377", month = "April", pdf = "data/papers/stibinger2021ral_preview.pdf" }

[11] Giuseppe Silano, Jan Bednar, Tiago Nascimento, Jesus Capitan, Martin Saska and Anibal Ollero. A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks. In 2021 International Conference on Unmanned Aircraft Systems (ICUAS). June 2021, 1624–1629. PDF BibTeX

@inproceedings{Silano2021ICUAS-I, author = "{Silano}, Giuseppe and {Bednar}, Jan and {Nascimento}, Tiago and {Capitan}, Jesus and {Saska}, Martin and {Ollero}, Anibal", booktitle = "2021 International Conference on Unmanned Aircraft Systems (ICUAS)", title = "{A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks}", doi = "10.1109/ICUAS51884.2021.9476813", year = 2021, month = "June", pdf = "data/papers/ICUAS21_Silano_I.pdf", pages = "1624--1629", organization = "IEEE" }

[12] Tiago Pereira Nascimento and Martin Saska. Fast Nonlinear Model Predictive Control for Very-Small Aerial Vehicles. In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). September 2020, 523-528. PDF BibTeX

@inproceedings{TiagoICUAS2020, title = "Fast Nonlinear Model Predictive Control for Very-Small Aerial Vehicles", author = "Tiago Pereira {Nascimento} and Martin {Saska}", doi = "10.1109/ICUAS48674.2020.9213924", booktitle = "2020 International Conference on Unmanned Aircraft Systems (ICUAS)", pages = "523-528", year = 2020, organization = "IEEE", month = "September", pdf = "data/papers/TiagoICUAS2020.pdf" }

[13] Tiago Pereira Nascimento and Martin Saska. Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles. Journal of Intelligent & Robotic Systems 103(74):1-11, November 2021. URL BibTeX

@article{Nascimento2021JINT, title = "Embedded Fast Nonlinear Model Predictive Control for Micro Aerial Vehicles", author = "Tiago Pereira {Nascimento} and Martin {Saska}", doi = "10.1109/ICUAS48674.2020.9213924", journal = "Journal of Intelligent {\&} Robotic Systems", pages = "1-11", year = 2021, organization = "Springer", month = "November", url = "https://link.springer.com/article/10.1007/s10846-021-01522-y", volume = 103, number = 74 }

[14] Pavel Petracek, Vit Kratky, Matej Petrlik, Tomas Baca, Radim Kratochvil and Martin Saska. Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles. IEEE Robotics and Automation Letters 6(4):7596-7603, October 2021. PDF BibTeX

@article{petracek2021caves, author = "Petracek, Pavel and Kratky, Vit and Petrlik, Matej and Baca, Tomas and Kratochvil, Radim and Saska, Martin", journal = "IEEE Robotics and Automation Letters", title = "Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles", year = 2021, volume = 6, number = 4, pages = "7596-7603", month = "October", doi = "10.1109/LRA.2021.3098304", pdf = "data/papers/ral2021petracek/petracek2021caves.pdf" }

[15] Vít Krátký, Pavel Petráček, Tomáš Báča and Martin Saska. An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments. Journal of Field Robotics 38(8):1036-1058, May 2021. PDF BibTeX

@article{kratky2021exploration, author = "Krátký, Vít and Petráček, Pavel and Báča, Tomáš and Saska, Martin", title = "An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments", journal = "Journal of Field Robotics", year = 2021, month = "May", volume = 38, number = 8, pages = "1036-1058", keywords = "aerial robotics, exploration, extreme environments, GPS-denied operation, planning", doi = "https://doi.org/10.1002/rob.22021", pdf = "https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22021", url = "https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.22021" }

[16] M Petrlík, T Báča, D Heřt, M Vrba, T Krajník and M Saska. A Robust UAV System for Operations in a Constrained Environment. IEEE Robotics and Automation Letters (RAL) 5(2):2169-2176, 2020. PDF BibTeX

@article{petrlik2020ral, author = "M. {Petrl\'{i}k} and T. {B\'{a}\v{c}a} and D. {He\v{r}t} and M. {Vrba} and T. {Krajn\'{i}k} and M. {Saska}", journal = "IEEE Robotics and Automation Letters (RAL)", title = "A Robust UAV System for Operations in a Constrained Environment", volume = 5, number = 2, pages = "2169-2176", year = 2020, keywords = "Aerial Systems;Perception and Autonomy;Search and Rescue Robots;Robotics in Hazardous Fields", doi = "10.1109/LRA.2020.2970980", issn = "2377-3774", url = "https://ieeexplore.ieee.org/document/8979150", pdf = "data/papers/petrlik2020ral.pdf" }

[17] T Rouček, M Pecka, P Čížek, T Petříček, J Bayer, V Šalanský, D Heřt, M Petrlík, T Báča, V Spurný, F Pomerleau, V Kubelka, J Faigl, K Zimmermann, M Saska, T Svoboda and T Krajník. DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments. In Modelling and Simulation for Autonomous Systems. 2019, 274–290. PDF BibTeX

@inproceedings{roucek2019mesas, title = "DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments", author = "T. Rou\v{c}ek and M. Pecka and P. \v{C}\'{i}\v{z}ek and T. Pet\v{r}\'{i}\v{c}ek and J. Bayer and V. \v{S}alansk\'{y} and D. He\v{r}t and M. Petrl\'{i}k and T. B\'{a}\v{c}a and V. Spurn\'{y} and F. Pomerleau and V. Kubelka and J Faigl and K. Zimmermann and M. Saska and T. Svoboda and T. Krajn\'{i}k", booktitle = "Modelling and Simulation for Autonomous Systems", year = 2019, pages = "274--290", isbn = "978-3-030-43890-6", doi = "10.1007/978-3-030-43890-6_22", url = "https://link.springer.com/chapter/10.1007/978-3-030-43890-6_22", pdf = "data/papers/mesas2019darpa.pdf" }

[18] T Rouček et al. System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Accepted to Field Robotics. 2021. URL
[19] Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. PDF BibTeX

@article{baca2021mrs, author = "Baca, Tomas and Petrlik, Matej and Vrba, Matous and Spurny, Vojtech and Penicka, Robert and Hert, Daniel and Saska, Martin", doi = "10.1007/s10846-021-01383-5", issue = 1, journal = "Journal of Intelligent {\&} Robotic Systems", link = "https://link.springer.com/article/10.1007/s10846-021-01383-5", month = "May", number = 26, pages = "1--28", pdf = "https://arxiv.org/pdf/2008.08050", publisher = "Springer", title = "The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles", volume = 102, year = 2021 }