Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics

Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics

One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate a system for large-scale exploration using a team of aerial...

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Veröffentlicht in:arXiv.org 2024-05
Hauptverfasser: Cladera, Fernando, Miller, Ian D, Ravichandran, Zachary, Murali, Varun, Hughes, Jason, M Ani Hsieh, Taylor, C J, Kumar, Vijay
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Robots
Semantics
Source code
Teams
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container_title arXiv.org
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creator Cladera, Fernando
Miller, Ian D
Ravichandran, Zachary
Murali, Varun
Hughes, Jason
M Ani Hsieh
Taylor, C J
Kumar, Vijay
description One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate a system for large-scale exploration using a team of aerial and ground robots. Our system uses semantics as lingua franca, and relies on fully opportunistic communications. We highlight the unique challenges from this approach, explain our system architecture and showcase lessons learned during our experiments. All our code is open-source, encouraging researchers to use it and build upon.
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title Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
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