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31 May 2021
Article (Scientific journals)
Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction
Real, Fran; Castaño, Angel; Torres-Gonzalez, Arturo et al.
2021In IEEE Access
Peer Reviewed verified by ORBi


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Keywords :
autonomous aerial vehicles; mobile robots; multi-robot systems
Abstract :
[en] This article presents a team of multiple Unmanned Aerial Vehicles (UAVs) to perform cooperative missions for autonomous construction. In particular, the UAVs have to build a wall made of bricks that need to be picked and transported from different locations. First, we propose a novel architecture for multi-robot systems operating in outdoor and unstructured environments, where robustness and reliability play a key role. Then, we describe the design of our aerial platforms and grasping mechanisms to pick, transport and place bricks. The system was particularly developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), where Challenge 2 consisted of building a wall cooperatively with multiple UAVs. However, our approach is more general and extensible to other multi-UAV applications involving physical interaction, like package delivery. We present not only our results in the final stage of MBZIRC, but also our simulations and field experiments throughout the previous months to the competition, where we tuned our system and assessed its performance.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Real, Fran
Castaño, Angel
Torres-Gonzalez, Arturo
Capitan, Jesus
Sanchez Cuevas, Pedro Jesus ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Fernandez-Gonzalez, Manuel
Villar, Manuel
Ollero, Anibal
External co-authors :
Language :
Title :
Experimental Evaluation of a Team of Multiple Unmanned Aerial Vehicles for Cooperative Construction
Publication date :
05 January 2021
Journal title :
IEEE Access
Publisher :
Institute of Electrical and Electronics Engineers, Piscataway, United States - New Jersey
Peer reviewed :
Peer Reviewed verified by ORBi


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