Summary
The possibility to jointly deploy aerial and ground robots makes sense in many application contexts of field robotics. There are indeed several cooperation schemes in which the complementarity of such heterogeneous robots can be exploited to enhance the efficiency of autonomous robotic operations.
This paper analyses the problems raised by the cooperation of ground and aerial robots. Besides the usual issues brought forth by the integration of cooperating heterogeneous autonomous systems, such systems raise particularly challenging problems for environment perception and modelling. On the basis of a review of the state of the art in the area, the paper focuses on this particular issue. It analyzes the required developments to tackle it, and sets forth some working directions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Bosch, S., Lacroix, S., Caballero, F.: Autonomous detection of safe landing areas for an UAV from monocular images. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing (China) (October 2006)
Chaimowicz, L., Cowley, A., Gomez-Ibanez, D., Grocholsky, B., Hsieh, M., Hsu, H., Keller, J., Kumar, V., Swaminathan, R., Taylor, C.: Deploying air-ground multi-robot teams in urban environments. In: International Workshop on Multi-Robot Systems, Washington, DC, USA (2005)
Chaimowicz, L., Grocholsky, B., Keller, J., Kumar, V., Taylor, C.: Experiments in multirobot air-ground coordination. In: IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (2004)
Downs, A., Madhavan, R., Hong, T.: Registration of range data from unmanned aerial and ground vehicles. In: 32nd Applied Imagery Pattern Recognition Workshop, October 2003, pp. 45–50 (2003)
Eade, E., Drummond, T.: Edge landmarks in monocular slam. In: British Machine Vision Conference, Edinburgh, UK (September 2006)
Fruh, C., Zakhor, A.: Constructing 3D city models by merging aerial and ground views. Computer Graphics and Applications 23(6), 52–61 (2003)
Georgiev, A., Allen, P.K.: Localization methods for a mobile robot in urban environments. IEEE Transactions on Robotics and Automation 20(5), 851–864 (2004)
Grocholsky, B., Bayraktar, S., Kumar, V., Taylor, C.J., Pappas, G.: Synergies in feature localization by air-ground robot teams. In: IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (2004)
Harbour, J., Bauer, S., Bruemmer, D., Carroll, D., Pacis, E., Mullens, K.D., Everett, H.R.: Enabling technologies for unmanned protection systems. In: SPIE Proc. of Unmanned Ground Vehicle Technology VII, Orlando, FL (USA), vol. 5804 (2005)
Special issue on SLAM in the field. Journal of Field Robotics, 11(1-2) (January-February 2007)
Johnson, A.: Surface landmark selection and matching in natural terrain. In: IEEE Conference on Computer Vision and Pattern Recognition (2000)
Lemaire, T., Lacroix, S.: Monocular-vision based SLAM using line segments. In: IEEE International Conference on Robotics and Automation, Roma, Italy (April 2007)
Lacroix, S., Lemaire, T., Berger, C.: More vision for SLAM. In: IEEE International Conference on Robotics and Automation, workshop on Unifying Perspectives in Computational and Robot Vision, Roma, Italy (April 2007)
Lazebnik, S., Ponce, J., Schmid, C.: A sparce texture representation using local affine regions. IEEE Transactions on Pattern Analysis and Machine Intelligence 27(8), 1265–1278 (2005)
Molton, N., Davison, A.J., Reid, I.: Locally planar patch features for real-time structure from motion. In: British Machine Vision Conference, London, UK (September 2004)
Madhavan, R., Hong, T., Messina, E.: Temporal range registration for unmanned ground and aerial vehicles. Journal of Intelligent Robotics Systems 44(1), 47–69 (2005)
Mullens, K., Troyer, B., Wade, R., Skibba, B., Dunn, M.: Collaborative engagement experiment. In: SPIE Proc. of Unmanned Systems Technology VIII, Defense Security Symposium, Orlando, FL, USA, vol. 6230 (2006)
The CROMAT project (2003-2005), http://grvc.us.es/cromat/
Rothganger, F., Lazebnik, S., Schmid, C., Ponce, J.: 3d object modeling and recognition using local affine-invariant image descriptors and multi-view spatial constraints. In: IEEE Conference on Computer Vision and Pattern Recognition, Madison, WI, USA, June 2003, pp. 272–277 (2003)
Ridley, M., Nettleton, E., Sukkarieh, S., Durrant-Whyte, H.: Tracking in decentralised air-ground sensing networks. In: Fifth International Conference on Information Fusion (July 2002)
Stentz, A., Kelly, A., Herman, H., Rander, P.: Integrated air/ground vehicle system for semi-autonomous off-road navigation. In: AUVSIs Symposium on Unmanned Systems (2002)
Silveira, G., Malis, E., Rives, P.: An efficient direct method for improving visual SLAM. In: IEEE International Conference on Robotics and Automation, Roma, Italy (April 2007)
Vandapel, N., Donamukkala, R.R., Hebert, M.: Unmanned ground vehicle navigation using aerial ladar data. International Journal of Robotics Research 25(1), 31–51 (2006)
Yun, J., Miura, J.: Multi-hypothesis outdoor localization using multiple visual features with a rough map. In: IEEE International Conference on Robotics and Automation, Roma, Italy (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lacroix, S., Le Besnerais, G. (2010). Issues in Cooperative Air/Ground Robotic Systems. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_35
Download citation
DOI: https://doi.org/10.1007/978-3-642-14743-2_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14742-5
Online ISBN: 978-3-642-14743-2
eBook Packages: EngineeringEngineering (R0)