Projects/2012
UAV-UGV Hybrid with Air-Based Path Planning
NYU Abu Dhabi · Interactive Robots and Media Lab (IRML)
Challenge, contribution, and outcome
CHALLENGE
Give a ground robot an overhead view of obstacles by coordinating it with a lightweight aerial robot.
MY CONTRIBUTION
Developed the UAV–UGV pilot linking aerial mapping to ground-robot path planning and served as first author of the FIT 2012 paper.
OUTCOME
An indoor pilot and first-author FIT 2012 paper demonstrating aerial-image mapping for ground-robot route planning.
Project overview
An early heterogeneous robot team pairing a ground vehicle with a quadrotor. The ground vehicle carries and recharges the aerial robot, whose overhead images are stitched into maps for ground-route planning. Developed as an indoor pilot, the work demonstrates how two physically different platforms can combine sensing and mobility capabilities.
System Record
- Outcomes
- OUTCOMEPeer-Reviewed Publication
- Period
- 2012
Development & Validation
- Aerial frames are stitched into a single overhead map, obstacles are segmented from it, and a slowness map yields a collision-free minimum-time trajectory for the ground robot.
- Built as a small-scale indoor pilot standing in for a much larger outdoor system, which made the concept testable and iterable at low cost and risk.
- First-author paper at the 10th International Conference on Frontiers of Information Technology; still cited in later aerial terrain mapping work for ground robot navigation.
Credits & Collaborators
Nikolaos Giakoumidis
Interactive Robots and Media Lab (IRML)
Lead author
Nikolaos Mavridis
Interactive Robots and Media Lab (IRML)
Principal Investigator
Jong Hyun Bak
IRML
Co-author
Juan V. Gómez
IRML
Co-author
A. Llenga
IRML
Co-author
Publications & media
- Pilot-scale development of a UAV-UGV hybrid with air-based UGV path planning
Publication
2012
Source · 2012 10th International Conference on Frontiers of Information Technology, 204–208
- Pilot-Scale Development of a UAV-UGV Hybrid with Air-Based UGV Path Planning
Video