In this project we aim to develop a strategy that will guide a legged robot to locate objects of interest (i.e. fire, building blocks to pick up, et.) in an unknown environment. The strategy should make use of the available sensor data (i.e. camera, thermal camera, LIDAR, etc.), priors and data gathered from other robots such as UAV’s to design a plan which will guide a robot to find a fire in minimal time in an unknown environment. This is part of the Challenge 3 in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2019 (see https://youtu.be/l5aPjTNYcpc?t=1m43s).
- Explore unknown area;
- Design guiding exploration heuristics.
Literature:
- [1] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, R. Siegwart, “Receding horizon path planning for 3D exploration and surface inspection”, Auton Robot 2016
- [2] M. Popovic, G. Hitz, J, Nieto, I. Sa, R. Siegwart, E. Galceran, “Online Informative Path Planning for Active Classification using UAVs”, ICRA 2017
- [3] P. Kruesi, P. Furgale, M. Bosse, R. Siegwart, “Driving on Point Clouds: Motion Planning, Trajectory Optimization and Terrain Assessment in Generic NonPlanar Environments”, Journal of Field Robotics 2016
- [4] E. Galceran, M. Carreras,
"A survey on coverage path planning for robotics",
Robotics and Autonomous Systems 2013,
In this project we aim to develop a strategy that will guide a legged robot to locate objects of interest (i.e. fire, building blocks to pick up, et.) in an unknown environment. The strategy should make use of the available sensor data (i.e. camera, thermal camera, LIDAR, etc.), priors and data gathered from other robots such as UAV’s to design a plan which will guide a robot to find a fire in minimal time in an unknown environment. This is part of the Challenge 3 in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2019 (see https://youtu.be/l5aPjTNYcpc?t=1m43s).
- [1] A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, R. Siegwart, “Receding horizon path planning for 3D exploration and surface inspection”, Auton Robot 2016 - [2] M. Popovic, G. Hitz, J, Nieto, I. Sa, R. Siegwart, E. Galceran, “Online Informative Path Planning for Active Classification using UAVs”, ICRA 2017 - [3] P. Kruesi, P. Furgale, M. Bosse, R. Siegwart, “Driving on Point Clouds: Motion Planning, Trajectory Optimization and Terrain Assessment in Generic NonPlanar Environments”, Journal of Field Robotics 2016 - [4] E. Galceran, M. Carreras, "A survey on coverage path planning for robotics", Robotics and Autonomous Systems 2013,
Not specified
Good C++ programming skills, knowledge of ROS is a big plus.
Good C++ programming skills, knowledge of ROS is a big plus.
Edo Jelavic [edo.jelavic@mavt.ethz.ch];
Marco Tranzatto [marcot@ethz.ch]
Edo Jelavic [edo.jelavic@mavt.ethz.ch]; Marco Tranzatto [marcot@ethz.ch]