On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries
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Author(s)
He, Ruijie
Bachrach, Abraham Galton
Prentice, Samuel James
Roy, Nicholas
Achtelik, Michael
Gurdan, Daniel
Stumpf, Jan
Date Issued
September 2010
Journal
International Journal of Robotics Research
Publisher
Sage Publications
Citation
Ruijie He et al. “On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries.” The International Journal of Robotics Research 29.5 (2010): 529 -546.
Version
Author's final manuscript
Abstract
The MAV ’08 competition focused on the problem
of using air and ground vehicles to locate and rescue hostages
being held in a remote building. To execute this mission, a number
of technical challenges were addressed, including designing the
micro air vehicle (MAV), using the MAV to geo-locate ground
targets, and planning the motion of ground vehicles to reach the
hostage location without detection.
In this paper, we describe the complete system designed for
the MAV ’08 competition, and present our solutions to three
technical challenges that were addressed within this system. First,
we summarize the design of our micro air vehicle, focusing on the
navigation and sensing payload. Second, we describe the vision
and state estimation algorithms used to track ground features,
including stationary obstacles and moving adversaries, from a
sequence of images collected by the MAV. Third, we describe
the planning algorithm used to generate motion plans for the
ground vehicles to approach the hostage building undetected by
adversaries; these adversaries are tracked by the MAV from
the air. We examine different variants of a search algorithm and
describe their performance under different conditions. Finally, we
provide results of our system’s performance during the mission
execution.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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DOI of Published Version
https://doi.org/10.1177/0278364909348805
