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  • Drone-Based Autonomous Motion Planning System for Outdoor Environments under Object Detection Uncertainty

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    Sanderson521922-Published.pdf (12.88Mb)
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    Version of Record (VoR)
    Author(s)
    Sandino, Juan
    Maire, Frederic
    Caccetta, Peter
    Sanderson, Conrad
    Gonzalez, Felipe
    Griffith University Author(s)
    Sanderson, Conrad
    Year published
    2021
    Metadata
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    Abstract
    Recent advances in autonomy of unmanned aerial vehicles (UAVs) have increased their use in remote sensing applications, such as precision agriculture, biosecurity, disaster monitoring, and surveillance. However, onboard UAV cognition capabilities for understanding and interacting in environments with imprecise or partial observations, for objects of interest within complex scenes, are limited, and have not yet been fully investigated. This limitation of onboard decision-making under uncertainty has delegated the motion planning strategy in complex environments to human pilots, which rely on communication subsystems and ...
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    Recent advances in autonomy of unmanned aerial vehicles (UAVs) have increased their use in remote sensing applications, such as precision agriculture, biosecurity, disaster monitoring, and surveillance. However, onboard UAV cognition capabilities for understanding and interacting in environments with imprecise or partial observations, for objects of interest within complex scenes, are limited, and have not yet been fully investigated. This limitation of onboard decision-making under uncertainty has delegated the motion planning strategy in complex environments to human pilots, which rely on communication subsystems and real-time telemetry from ground control stations. This paper presents a UAV-based autonomous motion planning and object finding system under uncertainty and partial observability in outdoor environments. The proposed system architecture follows a modular design, which allocates most of the computationally intensive tasks to a companion computer onboard the UAV to achieve high-fidelity results in simulated environments. We demonstrate the system with a search and rescue (SAR) case study, where a lost person (victim) in bushland needs to be found using a sub-2 kg quadrotor UAV. The navigation problem is mathematically formulated as a partially observable Markov decision process (POMDP). A motion strategy (or policy) is obtained once a POMDP is solved mid-flight and in real time using augmented belief trees (ABT) and the TAPIR toolkit. The system’s performance was assessed using three flight modes: (1) mission mode, which follows a survey plan and used here as the baseline motion planner; (2) offboard mode, which runs the POMDP-based planner across the flying area; and (3) hybrid mode, which combines mission and offboard modes for improved coverage in outdoor scenarios. Results suggest the increased cognitive power added by the proposed motion planner and flight modes allow UAVs to collect more accurate victim coordinates compared to the baseline planner. Adding the proposed system to UAVs results in improved robustness against potential false positive readings of detected objects caused by data noise, inaccurate detections, and elevated complexity to navigate in time-critical applications, such as SAR.
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    Journal Title
    Remote Sensing
    Volume
    13
    Issue
    21
    DOI
    https://doi.org/10.3390/rs13214481
    Copyright Statement
    © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
    Subject
    Artificial intelligence
    Machine learning
    Photogrammetry and remote sensing
    Field robotics
    Intelligent robotics
    Image processing
    Signal processing
    Autonomous vehicle systems
    Disaster and emergency management
    Computer vision
    Aircraft performance and flight control systems
    Publication URI
    http://hdl.handle.net/10072/410133
    Collection
    • Journal articles

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