Abstract
A mixed reality simulation framework is being developed as a tool to facilitate the elaboration, testing and deployment of control and collaborative strategies for teams of UAVs. The virtual world within the framework must contain a model of the phenomenon under analysis. It has been shown that, for complex cases, the use of real UAVs in an initiation phase could serve to simplify this model while increasing its accuracy. In a second step, a subsequent intermediate phase is implemented now. In this phase the virtual model is first scaled and then used to provide measurement data to the real planes that are equipped with virtual sensors in an augmented reality scenario. This way the cost and time of checking the coordination strategies and communications when several real planes are flying simultaneously can be greatly reduced. Once everything is tuned and adjusted within this intermediate phase, the whole system could be implemented in the full size real environment. An application on pollutant plume dispersion is used as a workbench case to show how this procedure is implemented in practice.
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
References
Valavanis, K.P., Vachtsevanos, G.J.: UAV applications: introduction. In: Valavanis, K.P., Vachtsevanos, G.J. (eds.) Handbook of Unmanned Aerial Vehicles, pp. 2639–2641. Springer, Dordrecht (2015)
Yan, Z., Jouandeau, N., Cherif, A.A.: A survey and analysis of multi-robot coordination. Int. J. Adv. Rob. Syst. 10, 399 (2013)
Chmaj, G., Selvaraj, H.: Distributed processing applications for UAV/drones: a survey. In: Selvaraj, H., Zydek, D., Chmaj, G. (eds.) Progress in Systems Engineering, pp. 449–454. Springer International Publishing, Cham (2015)
Watts, A.C., Ambrosia, V.G., Hinkley, E.A.: Unmanned aircraft systems in remote sensing and scientific research: classification and considerations of use. Remote Sens. 4(6), 1671–1692 (2012). MDPI
Zufferey, J.C., Hauert, S., Stirling, T., Leven, S., Roberts, J., Floreano, D.: Aerial collective systems. In: Handbook of Collective Robotics: Fundamentals and Challenges, pp. 609–660. Pan Stanford Publishing, Singapore (2013)
Ruini, F., Cangelosi, A.: Extending the Evolutionary Robotics approach to flying machines: an application to MAV teams. Neural Netw. 22, 812–821 (2009). Elsevier
Jakobi, N., Husbands, P., Harvey, I.: Noise and the reality gap: the use of simulation in evolutionary robotics. In: Proceedings of the Third European Conference on Artificial Life (ECAL 1995), Granada, Spain, pp. 704–720 (1995)
Nolfi, S., Floreano, D.: Evolutionary robotics, 384 p. MIT Press (2000)
Nonami, K., Kendoul, F., Suzuki, S., Wang, W., Nakazawa, D.: Autonomous flying robots: unmanned aerial vehicles and micro aerial vehicles, 329 p. Springer, Japan (2010)
Koos, S., Mouret, J.-B., Doncieux, S.: The transferability approach: crossing the reality gap in evolutionary robotics. IEEE Trans. Evol. Comput. 17(1), 122–145 (2012). IEEE Computational Intelligence Society
Varela, G., Caamaño, P., Orjales, F., Deibe, A., López Peña, F., Duro, R.J.: Autonomous UAV based search operations using Constrained Sampling Evolutionary Algorithms. Neurocomputing 132, 54–67 (2014). Elsevier
López Peña, F., Caamaño, P., Varela, G., Deibe, A., Orjales, F.: Setting up a mixed reality simulator for using teams of autonomous UAVs in air pollution monitoring. Int. J. Sust. Dev. Plan. 11(4), 616–626 (2016). WIT Press
López Peña, F., Deibe, A., Orjales, F.: On the initiation phase of a mixed reality simulator for air pollution monitoring by autonomous UAVs. In: Proceedings of the 9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 21–23 September 2017, Bucharest, Romania (2017)
Love, J., et al.: CSL: a language to specify and re-specify mobile sensor network behaviors. In: 15th IEEE Real-Time and Embedded Technology and Applications Symposium, San Francisco, CA, pp. 67–76 (2009)
Kim, Z., Sengupta, R.: Target detection and position likelihood using an aerial image sensor. In: 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 59–64 (2008)
Cole, D.T., Sukkarieh, S., Göktogan, A.H., Stone, H., Hardwick-Jones, R.: The development of a real-time modular architecture for the control of UAV teams. In: Field and Service Robotics: Results of the 5th International Conference, pp. 465–476, Springer (2006)
Göktogan, A., Sukkarieh, S., Wilson, D.B.: Guidance and navigation for UAV airborne docking. In: Robotics: Science and Systems (2015)
Selecký, M., Rollo, M., Losiewicz, P., Reade, J., Maida, N.: Framework for incremental development of complex unmanned aircraft systems. In: 2015 Integrated Communication, Navigation and Surveillance Conference (ICNS), Herdon, VA, pp. J3-1–J3-9 (2015)
Collett, T.H.J., MacDonald, B.A.: An augmented reality debugging system for mobile robot software engineers. J. Softw. Eng. Robot. 1, 18–32 (2010)
Hoenig, W., Milanes, C., Scaria, L., Phan, T., Bolas, M., Ayanian, N.: Mixed reality for robotics. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (2015)
Acknowledgements
This work has been funded by Xunta de Galicia and redTEIC under network (ED341D R2016/012) and by the Mineco of Spain and European Regional Development funds under grant TIN2015-63646-C5-1-R.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Orjales, F., Lopez Peña, F., Paz-Lopez, A., Deibe, A., Duro, R.J. (2018). On the Use of Mixed Reality for Setting up Control and Coordination Strategies for Teams of Autonomous UAV. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_43
Download citation
DOI: https://doi.org/10.1007/978-3-319-70833-1_43
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70832-4
Online ISBN: 978-3-319-70833-1
eBook Packages: EngineeringEngineering (R0)