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Toward an exploration-based probabilistic reasoning for a quadrotor

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Abstract

This work outlines a practically realizable (i.e., deployable and scalable) yet novel autonomous exploration strategy for unmanned aerial vehicles (UAV), which in our case, corresponds to multi-rotor configurations. Concretely, based on a probabilistic map, UAVs are able to modify their trajectory to localize the required target in unknown areas. This is thanks to the fact that the proposed exploration strategy uses the past and the actual perceived data in order to deduce the location of the target, and a dedicated control law allows the multi-rotor to reach the desired position. To realize the strategy, we developed a hierarchical control architecture that can be embedded in multi-rotors. We show its effectiveness by computer simulations and tests using real drones, against a forest-fire localization scenario for an unknown area.

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Notes

  1. In this link, you can find a video in order to see the execution of a trajectory https://www.youtube.com/watch?v=8ySzFayPYh4&feature=youtu.be).

  2. https://zelinkaivan65.wixsite.com/ivanzelinka/videa.

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Authors and Affiliations

  1. Polytechnic Institute of Advanced Sciences (IPSA), Bis, 63 Boulevard de Brandebourg, 94200, Ivry-sur-Seine, France

    Assia Belbachir & Johvany Gustave

  2. SMA-LIP6, Paris 6, France

    Assia Belbachir

  3. Institute of Computer Science, University of Tartu, Narva Mnt 18, 51009, Tartu, Estonia

    Naveed Muhammad

  4. Department of Computer Science, Faculty of Electrical Engineering and Computer Science, VŠB-TUO 17, 2172/15 708 00, listopadu, Ostrava-Poruba, Czech Republic

    Ivan Zelinka

Authors
  1. Assia Belbachir
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  2. Johvany Gustave
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  3. Naveed Muhammad
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  4. Ivan Zelinka
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Correspondence to Assia Belbachir.

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This study was not funded by any grant. All authors declare that they have no conflict of interest. No ethical approval was needed for this study.

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Belbachir, A., Gustave, J., Muhammad, N. et al. Toward an exploration-based probabilistic reasoning for a quadrotor. Intel Serv Robotics 14, 563–570 (2021). https://doi.org/10.1007/s11370-021-00378-3

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