Realization of an Autonomous Team of Unmanned Ground and Aerial Vehicles

  • Marco Langerwisch
  • Markus Ax
  • Stefan Thamke
  • Thomas Remmersmann
  • Alexander Tiderko
  • Klaus-Dieter Kuhnert
  • Bernardo Wagner
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7506)

Abstract

The paper presents work that has been done by three different research institutions. The aim was to realize an autonomous team of heterogeneous unmanned ground and aerial vehicles performing certain reconnaissance and surveillance tasks, where the tasks were set by an operator at a team level instead of controlling each vehicle seperately. To overcome the lack of a common middleware, the interfaces between vehicles and graphical user interface have been defined using Robot Operating System (ROS) and Battle Management Language (BML). We present approaches for autonomous control of the vehicles, focussing on the unmanned ground vehicle. Moreover, we conducted some large field experiments and present the results.

Keywords

Unmanned ground vehicle (UGV) unmanned aerial vehicle (UAV) field testing robot operating system (ROS) battle management language (BML) autonomous vehicles 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Marco Langerwisch
    • 1
  • Markus Ax
    • 2
  • Stefan Thamke
    • 2
  • Thomas Remmersmann
    • 3
  • Alexander Tiderko
    • 3
  • Klaus-Dieter Kuhnert
    • 2
  • Bernardo Wagner
    • 1
  1. 1.Leibniz Universität Hannover, Real Time Systems Group (RTS)HannoverGermany
  2. 2.Institute of Real-Time Learning Systems (EZLS)University of SiegenSiegenGermany
  3. 3.Fraunhofer Institute for Communication, Information Processing and Ergonomics (FKIE)WachtbergGermany

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