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International Conference on Modelling and Simulation for Autonomous Systems

MESAS 2018: Modelling and Simulation for Autonomous Systems pp 158–171Cite as

Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11472))

Abstract

In this paper, a new approach for autonomous real-time monitoring of large areas using small unmanned areal vehicles with limited sensory and computational resources is proposed. Most of the existing solutions of area monitoring require large aerial vehicles to be equipped with a list of expensive sensors and powerful computational resources. Recent progress in Micro Aerial Vehicles (MAVs) allows us to consider their utilization in new tasks, such as the considered compact monitoring, which are dedicated to large well-equipped aerial vehicles so-far only. The proposed solution enables online area monitoring using MAVs equipped with minimal sensory and computational resources and to process the obtained data only with cell phones capabilities, which considerably extends application possibilities of the drone technology. The proposed methodology was verified under various outdoor conditions of real application scenarios with a simple autonomous MAV controlled by the onboard model predictive control in a robotic operation system (ROS), while the user interface was provided on a standard smartphone with Android OS.

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Acknowledgments

This research was supported by CTU grant no. SGS17/187/OHK3/3T/13, by the Grant Agency of the Czech Republic under grant no. 17-16900Y and by OP VVV MEYS funded project CZ.02.1.01/0.0/0.0/16_019/0000765 “Research Center for Informatics”.

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Authors and Affiliations

  1. Department of Cybernetics, Czech Technical University in Prague, Prague, Czech Republic

    Petr Ješke, Štěpán Klouček & Martin Saska

Authors
  1. Petr Ješke
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  2. Štěpán Klouček
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  3. Martin Saska
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Corresponding author

Correspondence to Martin Saska .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Ješke, P., Klouček, Š., Saska, M. (2019). Autonomous Compact Monitoring of Large Areas Using Micro Aerial Vehicles with Limited Sensory Information and Computational Resources. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_14

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  • DOI: https://doi.org/10.1007/978-3-030-14984-0_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-14983-3

  • Online ISBN: 978-3-030-14984-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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