Date of Completion
Shalabh Gupta; Ashwin Dani; Robert McCartney
University Scholar Major
Computer Science and Engineering
Artificial Intelligence and Robotics | Computational Engineering | Controls and Control Theory | Electrical and Electronics | Navigation, Guidance, Control and Dynamics | Systems and Communications | Systems Architecture | Theory and Algorithms
This report aims to demonstrate the feasibility of building a global 3-D map from multiple UAV robots in a GPS-denied, indoor environment. Presented are the design of each robot and the reasoning behind choosing its hardware and software components, the process in which a single robot obtains a individual 3-D map entirely onboard, and lastly how the mapping concept is extended to multiple robotic agents to form a global 3-D map using a centralized server. In the latter section, this report focuses on two algorithms, Online Mapping and Map Fusion, developed to facilitate the cooperative approach. A limited selection of experiments and test results are also presented to demonstrate application of these algorithms in a real-world setting.
Lawson, Andrew Erik, "Cooperative 3-D Map Generation Using Multiple UAVs" (2015). University Scholar Projects. 21.
Artificial Intelligence and Robotics Commons, Computational Engineering Commons, Controls and Control Theory Commons, Electrical and Electronics Commons, Navigation, Guidance, Control and Dynamics Commons, Systems and Communications Commons, Systems Architecture Commons, Theory and Algorithms Commons