This paper presents an online multi-query path planner for exploration tasks planned onboard an unmanned helicopter. While the desirable properties of roadmaps can be exploited in offline path planning, the dynamic nature of exploration scenarios hinders to utilize conventional roadmap planners. Hence, the presented path planning approach utilizes a deterministically sampled roadmap which is dynamically indexed in real time. To address situations of partial terrain knowledge, the roadmap can be extended from its a priori dimensions towards locations of unknown terrain that are outside its original, a priori boundaries. The multi-query property of the planning system allows for combinatorial optimization such that a rapidly acting decisional autonomy is achievable during exploration flights. D*-Lite is used as dynamic heuristic path searcher in order to re-plan efficiently. Inspired by the original work on this path search algorithm, the roadmap graph is augmented with an exploration vertex which steers the exploration behavior of the vehicle. As a result, the presented roadmap guides an unmanned rotorcraft through a priori unknown urban terrain in real time.
Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field N...Florian-Michael Adolf
This work presents performance assessments of a sampling-based motion planner for path planning and guidance in urban terrain with sensing unforeseen obstacles in the loop. An existing benchmark suite is utilized for this purpose, in order to enable comparison with other approaches. Moreover this benchmark is used to determine how close generated paths match the provided baseline solutions to which other solutions can be compared with. The evaluation results indicate an efficient replanning of our online multi-query planning approach. Furthermore conclusions from variations in the experiments with respect to sensor field of view, sample density, replanning rate and motion safety aspects help to understand practical aspects of our roadmap-based planning and guidance method.
Trajectory Time Reduction using Field of View-based Smoothing of Roadmap-base...Florian-Michael Adolf
This work studies an online roadmap-based path planner for an unmanned rotorcraft that is enhanced with a sensorbased
trajectory time reduction concept. A recent evaluation of showed that linear roadmap paths under-perform with
respect to the enroute trajectory time in urban terrain scenarios. The challenge addressed in this paper is the tradeoff
between a runtime efficient but coarse linear online roadmap and computationally more demanding nonlinear collision
free path smoothing. An online connection strategy is required that considers motion constraints and the obstacle
sensor’s field of view, in order to still allow for feasible connections to the roadmap at higher velocities and in narrow
corridors. Our approach proposes a finite horizon connection strategy that considers special cases during hover as
opposed to sole forward flight. During the enroute flight, a clamped piecewise cubic spline interpolation is computed
in real time and closely fitted along linear path corridors. Simulation results indicate that the proposed approach
reduces the trajectory time while the computational overhead is kept low. It benefits from the roadmap’s coarse
free space representation such that the computational overhead is minimized. The approach considers approximate
rotorcraft kinematics and the obstacle sensor’s field of view for increased motion safety. The concept is compared to
benchmark baseline performances where a significant trajectory time reduction is achieved.
In this presion tension we disscuss upon the one part of mapping. which is done by the remote sensing application. this type of presentation incude many subject bt we only focusing on the mapping
Brief history of autonomous functions from the past 10 years of research. Focus is on V&V considerations and approaches applied for various autonomous functions. New regulatory trends that we can incorporate down into our system demonstrators and flight test procedures.
2018 GIS in Government: Historical Topographic Map CollectionGIS in the Rockies
The United States Geological Survey (USGS) created nearly 200,000 1:250,000-scale and larger printed topographic maps between the inception of the topographic mapping program in 1884 and 2006 when they began producing digital format maps. In 2011 the USGS began production of the Historical Topographic Map Collection (HTMC) by scanning these maps and creating a GeoPDF and GeoTIFF product for each unique paper map. In addition to producing high-resolution, geo-referenced digital copies of the legacy lithographic maps, the USGS is also accurately cataloging and creating metadata for each product. This presentation will talk about what the HTMC is, how and why it is being created, where you can access the available GeoPDFs and GeoTIFF’s, and the current program status.
Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field N...Florian-Michael Adolf
This work presents performance assessments of a sampling-based motion planner for path planning and guidance in urban terrain with sensing unforeseen obstacles in the loop. An existing benchmark suite is utilized for this purpose, in order to enable comparison with other approaches. Moreover this benchmark is used to determine how close generated paths match the provided baseline solutions to which other solutions can be compared with. The evaluation results indicate an efficient replanning of our online multi-query planning approach. Furthermore conclusions from variations in the experiments with respect to sensor field of view, sample density, replanning rate and motion safety aspects help to understand practical aspects of our roadmap-based planning and guidance method.
Trajectory Time Reduction using Field of View-based Smoothing of Roadmap-base...Florian-Michael Adolf
This work studies an online roadmap-based path planner for an unmanned rotorcraft that is enhanced with a sensorbased
trajectory time reduction concept. A recent evaluation of showed that linear roadmap paths under-perform with
respect to the enroute trajectory time in urban terrain scenarios. The challenge addressed in this paper is the tradeoff
between a runtime efficient but coarse linear online roadmap and computationally more demanding nonlinear collision
free path smoothing. An online connection strategy is required that considers motion constraints and the obstacle
sensor’s field of view, in order to still allow for feasible connections to the roadmap at higher velocities and in narrow
corridors. Our approach proposes a finite horizon connection strategy that considers special cases during hover as
opposed to sole forward flight. During the enroute flight, a clamped piecewise cubic spline interpolation is computed
in real time and closely fitted along linear path corridors. Simulation results indicate that the proposed approach
reduces the trajectory time while the computational overhead is kept low. It benefits from the roadmap’s coarse
free space representation such that the computational overhead is minimized. The approach considers approximate
rotorcraft kinematics and the obstacle sensor’s field of view for increased motion safety. The concept is compared to
benchmark baseline performances where a significant trajectory time reduction is achieved.
In this presion tension we disscuss upon the one part of mapping. which is done by the remote sensing application. this type of presentation incude many subject bt we only focusing on the mapping
Brief history of autonomous functions from the past 10 years of research. Focus is on V&V considerations and approaches applied for various autonomous functions. New regulatory trends that we can incorporate down into our system demonstrators and flight test procedures.
2018 GIS in Government: Historical Topographic Map CollectionGIS in the Rockies
The United States Geological Survey (USGS) created nearly 200,000 1:250,000-scale and larger printed topographic maps between the inception of the topographic mapping program in 1884 and 2006 when they began producing digital format maps. In 2011 the USGS began production of the Historical Topographic Map Collection (HTMC) by scanning these maps and creating a GeoPDF and GeoTIFF product for each unique paper map. In addition to producing high-resolution, geo-referenced digital copies of the legacy lithographic maps, the USGS is also accurately cataloging and creating metadata for each product. This presentation will talk about what the HTMC is, how and why it is being created, where you can access the available GeoPDFs and GeoTIFF’s, and the current program status.
3-Dimensional Modeling to Support the Short North Historic District Design Gu...Scott Ulrich
This presentation was prepared for a studio class in The Ohio State University's City & Regional Planning program. The class coordinated with the City of Columbus Planning Division staff to conduct extensive research that formed the basis for new design guidelines for the Short North Arts District in Columbus, Ohio.
Unmanned Low-altitude Air Cargo, Towards Demonstration With A Specific Opera...Florian-Michael Adolf
At DLR (German Aerospace Center) novel concepts and technologies are investigated focusing on automated air cargo delivery for up to 1 t of cargo payload. The DLR project ALAADy (Automated Low Altitude Air Delivery) addresses a large scope of challenges that come along with such an unmanned aircraft for cargo operations. This presentation will provide an update on the project as well as a status on latest developments, i.e. from use cases and towards our demonstration goal. The discussed aspects comprise a blend of use case requirements and a discussion of onboard functional requirements such that a safe operation under the prospective EASA specific category would be admissible and feasible in very low level flight.
Use of climate data for risk reduction – CCA and DRR perspectivePLACARD
Barbara Chimani
PLACARD Foresight workshop – reducing vulnerability to climate-related hazards
24–25 October 2016
National Met Service (ZAMG), Vienna
Thirty five experts from three different science, policy and practice communities – CCA, DRR and foresight – joined us to explore whether foresight can help to reduce climate vulnerability. The answer was positive: combining qualitative and quantitative foresight methods in visioning exercises can help to integrate the two issues.
A presentation by Michael Xinogalos, Surveying Engineer NTUA 1988, Technical Director of ASTROLABE ENGINEERING at 3rd Annual Optech Users Meeting - Rome 2007 (www.astrolabe.gr - www.laseraction.eu)
Using Geometry to Integrated Road InformationSafe Software
Everyone uses road data. Whether it's for driving directions, transit planning, engineering design, or road operations and maintenance, we all have a need for road information in our daily lives. Most municipalities do all of these things at once, and it is challenging to build GIS solutions that work between multiple departments.
One strategy for database design for road data uses vertical alignment of features. This presentation will demonstrate how multiple feature classes can be integrated to produce a variety of output datasets for different application needs. This approach provides a simple approach for managing road data along with efficient techniques in FME to output data in a variety of data models and formats.
Unmanned aerial vehicles UAVs for the Construction IndustrySue McKinney
The potential for using UAVs within the construction and civil engineering industry is significant yet their use is currently relatively limited. The main reason behind this is a lack of awareness of their potential and the range of benefits that they can bring, even though, right through from planning to final construction, nearly every stage of the engineering process can benefit from the use of a UAV.
Structural survey, inspection and evaluation using LS technologyMichael Xinogalos
A presentation by Michael Xinogalos, Surveying Engineer NTUA 1988, Technical Director of ASTROLABE ENGINEERING at Innovative LIDAR Solutions Conference - Toronto 2009 (www.astrolabe.gr - www.laseraction.eu)
This presentation shows how drones have been used successfully in construction and infrastructure asset management as aerial image and data capture devices thus far, review competitive and traditional approaches using incumbent technology, discuss the opportunities and challenges posed by the technology itself, outline the lessons learned, and discuss what’s next for drones in civil engineering.
Meshing and Simplification of High Resolution Urban Surface Data for UAV Path...Florian-Michael Adolf
This work presents an approach to utilize high resolution surface data as a-priori information for three dimensional path planning at very low altitude. The major challenge is preserve features while reducing the amount of data to a minimum. Non significant height points are eliminated by a neighbor search, performed within a data structure generated from pseudo 3D Delaunay meshing. A comparison to an alternatively implemented simplification shows which inherent building features can be preserved. For highlighting the feasibility of the approach, the processing results of real urban surface data from the inner city of Berlin is presented and used for sampling based path planning of an unmanned helicopter.
Vision-Based Obstacle Recognition and Autonomous Flights through Gate Structu...Florian-Michael Adolf
The challenge for unmanned aerial vehicles to sense and avoid obstacles becomes even harder if narrow passages have to be passed for which no precise a-priori position information is available. Inspired by recent UAV flight competitions, this work presents a vision-based approach to search for a narrow gate and to fly through it autonomously. The gate’s precise position has to be detected in order to avoid a collision. Using a GPS-based self localization, the camera alignment and the gate position are estimated simultaneously. The presented approach alters a set of waypoints to fly through the gate. All algorithms run onboard the vehicle such that the gate is passed autonomously. Results from flight tests are presented that underline the feasibility of the presented approach.
3-Dimensional Modeling to Support the Short North Historic District Design Gu...Scott Ulrich
This presentation was prepared for a studio class in The Ohio State University's City & Regional Planning program. The class coordinated with the City of Columbus Planning Division staff to conduct extensive research that formed the basis for new design guidelines for the Short North Arts District in Columbus, Ohio.
Unmanned Low-altitude Air Cargo, Towards Demonstration With A Specific Opera...Florian-Michael Adolf
At DLR (German Aerospace Center) novel concepts and technologies are investigated focusing on automated air cargo delivery for up to 1 t of cargo payload. The DLR project ALAADy (Automated Low Altitude Air Delivery) addresses a large scope of challenges that come along with such an unmanned aircraft for cargo operations. This presentation will provide an update on the project as well as a status on latest developments, i.e. from use cases and towards our demonstration goal. The discussed aspects comprise a blend of use case requirements and a discussion of onboard functional requirements such that a safe operation under the prospective EASA specific category would be admissible and feasible in very low level flight.
Use of climate data for risk reduction – CCA and DRR perspectivePLACARD
Barbara Chimani
PLACARD Foresight workshop – reducing vulnerability to climate-related hazards
24–25 October 2016
National Met Service (ZAMG), Vienna
Thirty five experts from three different science, policy and practice communities – CCA, DRR and foresight – joined us to explore whether foresight can help to reduce climate vulnerability. The answer was positive: combining qualitative and quantitative foresight methods in visioning exercises can help to integrate the two issues.
A presentation by Michael Xinogalos, Surveying Engineer NTUA 1988, Technical Director of ASTROLABE ENGINEERING at 3rd Annual Optech Users Meeting - Rome 2007 (www.astrolabe.gr - www.laseraction.eu)
Using Geometry to Integrated Road InformationSafe Software
Everyone uses road data. Whether it's for driving directions, transit planning, engineering design, or road operations and maintenance, we all have a need for road information in our daily lives. Most municipalities do all of these things at once, and it is challenging to build GIS solutions that work between multiple departments.
One strategy for database design for road data uses vertical alignment of features. This presentation will demonstrate how multiple feature classes can be integrated to produce a variety of output datasets for different application needs. This approach provides a simple approach for managing road data along with efficient techniques in FME to output data in a variety of data models and formats.
Unmanned aerial vehicles UAVs for the Construction IndustrySue McKinney
The potential for using UAVs within the construction and civil engineering industry is significant yet their use is currently relatively limited. The main reason behind this is a lack of awareness of their potential and the range of benefits that they can bring, even though, right through from planning to final construction, nearly every stage of the engineering process can benefit from the use of a UAV.
Structural survey, inspection and evaluation using LS technologyMichael Xinogalos
A presentation by Michael Xinogalos, Surveying Engineer NTUA 1988, Technical Director of ASTROLABE ENGINEERING at Innovative LIDAR Solutions Conference - Toronto 2009 (www.astrolabe.gr - www.laseraction.eu)
This presentation shows how drones have been used successfully in construction and infrastructure asset management as aerial image and data capture devices thus far, review competitive and traditional approaches using incumbent technology, discuss the opportunities and challenges posed by the technology itself, outline the lessons learned, and discuss what’s next for drones in civil engineering.
Meshing and Simplification of High Resolution Urban Surface Data for UAV Path...Florian-Michael Adolf
This work presents an approach to utilize high resolution surface data as a-priori information for three dimensional path planning at very low altitude. The major challenge is preserve features while reducing the amount of data to a minimum. Non significant height points are eliminated by a neighbor search, performed within a data structure generated from pseudo 3D Delaunay meshing. A comparison to an alternatively implemented simplification shows which inherent building features can be preserved. For highlighting the feasibility of the approach, the processing results of real urban surface data from the inner city of Berlin is presented and used for sampling based path planning of an unmanned helicopter.
Vision-Based Obstacle Recognition and Autonomous Flights through Gate Structu...Florian-Michael Adolf
The challenge for unmanned aerial vehicles to sense and avoid obstacles becomes even harder if narrow passages have to be passed for which no precise a-priori position information is available. Inspired by recent UAV flight competitions, this work presents a vision-based approach to search for a narrow gate and to fly through it autonomously. The gate’s precise position has to be detected in order to avoid a collision. Using a GPS-based self localization, the camera alignment and the gate position are estimated simultaneously. The presented approach alters a set of waypoints to fly through the gate. All algorithms run onboard the vehicle such that the gate is passed autonomously. Results from flight tests are presented that underline the feasibility of the presented approach.
Asymmetric 2-Opt Scheduling for Roadmap-Based Task Planning in Urban TerrainFlorian-Michael Adolf
This work presents an automated task scheduling approach for mission planning that allows for task-level motion planning with an unmanned rotorcraft in complex terrain. Given a set of mission task elements (e.g. single waypoints or areas of interest) a 2-opt-based heuristic optimization is chosen to reduce tour costs and achieve 2-optimal results. The 2-opt approach is modified to account for asymmetric partial tour costs derived from a sampling-based path planner. To aid this local optimization a global meta-heuristic guidance like simulated-annealing is evaluated. The iterative convergence is evaluated for different configurations of tour initialization methods, a meta heuristic and two 2-opt variants. Although in theory local minima can exist, given the planning uncertainties and an expected number of tasks of up to 100, the cost sub-optimality of generated task schedules are practically negligible. Furthermore, we emphasize the combination of task scheduling with a multi-query planner in fair comparison against a single-query variant of our approach. For tasks distributed across complex terrain, the combination of 2-opt and our multi-query planner results in feasible tours within the order of a few seconds. Moreover, due to a local optimization type of tour improvement, an extension for online re-scheduling is possible.
Schichtenmodell zur integrierten Auftrags- und Bewegungsplanung an Bord tief ...Florian-Michael Adolf
A decoupled approach to trajectory generation based on a cubic spline geometry formulation is introduced. The distinct consideration of boundary conditions yields a continuously differentiable trajectory definition such that path tracking errors are minimized during flight. A curvature-based, dimensionless space-filling curve allows to determine a suitable velocity profile along the path for hover-capable vehicles. Tracking of the trajectory is enabled by a conversion between the spline parameters and the arc length of the spline. In the past years, this approach in combination with a suitable trajectory tracking control has been successfully flight tested with an unmanned helicopter.
Automated Verification of an Onboard Mission Planning and Execution System fo...Florian-Michael Adolf
Automated mission planning is one of the key components of an autonomous UAV. The software validation and verification for such decisional autonomy functions is a challenging problem. The software component includes the closed loop vehicle control as well as environment perception. As this is a safety-critical software component, it is important that this software works safely and within projected performance boundaries. This paper discusses the verification and validation approach for the sampling-based mission planner of an unmanned rotorcraft. A layered test strategy is presented, which utilizes different testing methods that complement and build upon each other. Its strengths as well as the possible improvement directions of this approach are discussed. An emphasis is given on automated software-in-the-loop simulations. The approach additionally utilizes benchmarks to assess the implementation performance and real time properties. Finally, to be able to assess the overall test quality, a set of different scalable test abstractions (SUT size, test effort, level of automation, coverage, test complexity and feedback time) is used to analyze the presented strategy.
Mission Planning and Execution for the Unmanned Rotorcraft ARTISFlorian-Michael Adolf
Wrap-up slide deck on functions developed for the Unmanned Rotorcraft ARITS' Mission Planning and Execution Framework (MiPlEx) as well as a preliminary outlook into adaptations to (unmanned) fixed-wing aircraft kinematics.
This work summarizes a multi-disciplinary research project, focusing on key enabling techniques towards true autonomous flight of small, low flying VTOL UAVs. Research activities cover the flying testbed, a simulation and testing environment, as well as integrated components for onboard navigation, perception, planning and control. Promising results and feasibility demonstrations in flight tests underline the successful domain specific enhancements of approaches based on aeronautical engineering, computer science and mobile robotics. The current approaches pave the way towards further research in improved flight control performance and more system autonomy when a-priori mission uncertainties increase.
MiPlEx - Online Task Planning for Exploration Tasks in Urban TerrainFlorian-Michael Adolf
This presentation shows an online multi-query path planner for exploration tasks planned onboard an unmanned helicopter. While the desirable properties of roadmaps can be exploited in offline path planning, the dynamic nature of exploration scenarios hinders to utilize conventional roadmap planners. Hence, the presented path planning approach utilizes a deterministically sampled roadmap which is dynamically indexed in real time. To address situations of partial terrain knowledge, the roadmap can be extended from its a priori dimensions towards locations of unknown terrain that are outside its original, a priori boundaries. The multi-query property of the planning system allows for combinatorial optimization such that a rapidly acting decisional autonomy is achievable during exploration flights. D*-Lite is used as dynamic heuristic path searcher in order to re-plan efficiently. Inspired by the original work on this path search algorithm, the roadmap graph is augmented with an exploration vertex which steers the exploration behavior of the vehicle. As a result, the presented roadmap guides an unmanned rotorcraft through a priori unknown urban terrain in real time.
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
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Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft
1. Multi-Query Path Planning for Exploration Tasks
with an Unmanned Rotorcraft
Florian-M. Adolf
German Aerospace Center (DLR)
Institute of Flight Systems
Department of Unmanned Aircraft
Braunschweig, Germany
AIAA InfoTech@Aerospace 2012, Garden Grove, CA
Session: 26-I@A-19, Task Allocation and Planning Algorithms I
2. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Background
Support Acquisition of Situational Awareness in Hazardous Environments
www.DLR.de • Chart 2
Tepco Fukushima Daiichi Reactor, Japan 2011
[Air Photo Service + Rotomotion/Hélipse]
Earthquake, Chile 2010
Texas City disaster April 16, 1947:
Complex docks building.
[Special Collections, University of Houston Libraries]
3. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Problem Description
www.DLR.de • Chart 3
State of terrain
a priori unknown
Remote control link
may be disturbed when
flying out-of-sight
Intermediate paths
depend on acquired
terrain data
Repetitive path changes
UAV with terrain
mapping sensor
3-D structures with
overhangs might exist!
Autonomous Terrain Exploration
4. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Approach
www.DLR.de • Chart 4
Online Mapping and Multi-Query Path Planning
UAV with terrain
mapping sensor
“Raw” obstacle data
(e.g. point cloud, depth image)
Online Mapping
[Andert et al., 2009 / Krause 2010]
Geo-referenced
polygon obstacles
Online Path Replanning
[F.Adolf et al., 2010]
Path Following + Flight Control
[S.Lorenz et al., 2010]
Path updates
+ Replans efficiently on the way from „A to B“
+ Efficient multiple path queries
1. Roadmap expansion into unknown terrain
2. Decision making: „Best next“ waypoint „B“
Sensor
FOV
5. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Previous Roadmap-Based Path Planning
www.DLR.de • Chart 5
Roadmap
perimeter
B
A
Initial path
Polygon
updates
Non-traversable
roadmap edges
B
A
Replanned path
From “A to B”
What if we need to
extend the predefined
perimeter?
6. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Previous Roadmap-Based Path Planning
www.DLR.de • Chart 6
Initial roadmap
and its perimeter
1 B
Goal vertex
Acquired
during flight
B unreachable!
Non-traversable
roadmap edges
B
UAV
New obstacles
Issues Exploration from “A to B”
Resampling time hard to predict!
2b
Obstacle-based
resampling
B
UAV
7. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Roadmap Expansion Strategy
www.DLR.de • Chart 7
Initial roadmap
and its perimeter
B
Goal vertex
1
B
Resampled
‚unknown‘
partial volumes
A
UAV
New
obstacles
3
B
Increase chance
to find path:
Connection
strategy as for
initial roadmap
Exploration from “A to B”
8. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Autonomous Rotorcraft Testbeds
for Intelligent Systems (ARTIS)
www.DLR.de • Chart 8
Magnetometer
Power Supply
IMUGPSTelemetry
Flight Control
Camera
Computer Vision
Sonar
9. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Terrain Mapping
Geo-referenced
point cloud
Structure of interest
Area of interest
[Stefan Krause, 2010]
Remotely Piloted Aircraft System (RPAS)
www.DLR.de • Chart 9
10. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Simulation Setup
www.DLR.de • Chart 10
Closed Loop Flights in ‘Unknown’ Terrain
3-D LIDAR Model
50 m detection range
180 degree
scan plane 360 degree rotation @1Hz
of 2-D scan plane
Vehicle state update
ARTIS Closed Loop Simulation
Laser beam
collision detection
A Priori ‘Unknown’ Polygons
Extracted polygons
Path-based velocity
command
(VK, gamma, chi)
Roadmap-Based Planner
11. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
B
A
Exploration Scenario 1
www.DLR.de • Chart 11
Exploration from “A to B”
13. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Roadmap-Based Decision Making
www.DLR.de • Chart 13
Roadmap perimeter defines
volume to be mapped
A
Greedy Mapping: Select „Best Next“ Waypoint „B“
Uniform
edge costs
A
Bmap
Mapping
vertex
1 2
A2
Bmap
„Mapped“
vertices
A1
A0
Current „A to B“ path,
no path segment to Bmap
14. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Roadmap-Based Decision Making
www.DLR.de • Chart 14
Strategies to mark vertices as mapped:
1. Visited:
Physically passed or reached by the
vehicle.
2. Scanned:
All edges to and from a vertex have
been inside sensor FOV.
3. Uninformative:
If vertex is detected by mapping sensor,
it is not considered to provide useful
information anymore.
Greedy Mapping: Select „Best Next“ Waypoint „B“
proximity
radius
threshold
1) Visited
3) Uninformative
Mapping
sensor
FOV
All
edges
2) Scanned
Edge at least
once completely
within FOV
15. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
A
Exploration Scenario 2
Exploration of Urban Terrain
www.DLR.de • Chart 15
16. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Simulation Results
www.DLR.de • Chart 16
Rotating
LIDAR
sensor
UAV
Initial roadmap
perimeter
Exploration of Urban Terrain
17. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Simulation Result
www.DLR.de • Chart 17
Exploration of Urban Terrain
Efficient
replanning
Terrain almost
fully mapped
Total mission time within max. flight time of ARTIS
Trajectories
always well clear
of obstacles
18. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Summary
Two extensions to online roadmap-based path planner:
1. Roadmap Expansion for resolution completeness in ‘unknown’ volumes
while keeping number of samples low.
2. Online task planning roadmap:
1. Greedy mapping as example application
2. Replanning benefits from multi-query property
www.DLR.de • Chart 18
Ideas for improvements:
- Vertex marking strategy linked to real sensor instead of known FOV.
- Non-uniform edge costs:
Risk probability, account for GPS-denied locations, landing sites etc.
19. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Questions?
Thank you for your attention!
www.DLR.de • Chart 19
20. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Backup
www.DLR.de • Chart 20
21. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012
Simulation Result
www.DLR.de • Chart 21
Exploration of Urban Terrain
Remaining narrow corridor
(width < 20 m)
UAV
Rotating
LIDAR
Flown path
Current mapping path
22. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012www.DLR.de • Chart 22
Simulation Results
Influence of terrain detail level (1m)
23. > Multi-Query Path Planning for Exploration Tasks > Florian-M. Adolf • AIAA InfoTech, Session 26-I@A-19 > 20th June 2012www.DLR.de • Chart 23
Obstacle Detection and Mapping
[Andert et al., 2009]