Realization of an autonomous team of unmanned ground and aerial vehicles

Authors:
Marco Langerwisch;Markus Ax;Stefan Thamke;Thomas Remmersmann;Alexander Tiderko;Klaus-Dieter Kuhnert;Bernardo Wagner
Affiliations:
Leibniz Universität Hannover, Real Time Systems Group (RTS), Hannover, Germany;Institute of Real-Time Learning Systems (EZLS), University of Siegen, Siegen, Germany;Institute of Real-Time Learning Systems (EZLS), University of Siegen, Siegen, Germany;Fraunhofer Institute for Communication, Information Processing and Ergonomics (FKIE), Wachtberg, Germany;Fraunhofer Institute for Communication, Information Processing and Ergonomics (FKIE), Wachtberg, Germany;Institute of Real-Time Learning Systems (EZLS), University of Siegen, Siegen, Germany;Leibniz Universität Hannover, Real Time Systems Group (RTS), Hannover, Germany
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

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Abstract

The paper presents work that has been done by three different research institutions. The aim was to realize an autonomous team of heterogeneous unmanned ground and aerial vehicles performing certain reconnaissance and surveillance tasks, where the tasks were set by an operator at a team level instead of controlling each vehicle seperately. To overcome the lack of a common middleware, the interfaces between vehicles and graphical user interface have been defined using Robot Operating System (ROS) and Battle Management Language (BML). We present approaches for autonomous control of the vehicles, focussing on the unmanned ground vehicle. Moreover, we conducted some large field experiments and present the results.