{"id":229,"date":"2022-12-12T10:56:10","date_gmt":"2022-12-12T10:56:10","guid":{"rendered":"https:\/\/www.kios.ucy.ac.cy\/spa\/?p=229"},"modified":"2022-12-12T10:56:53","modified_gmt":"2022-12-12T10:56:53","slug":"uav-autonomous-indoor-exploration-and-mapping-for-sar-missions-reflections-from-the-icuas-2022-competition","status":"publish","type":"post","link":"https:\/\/www.kios.ucy.ac.cy\/spa\/publications\/uav-autonomous-indoor-exploration-and-mapping-for-sar-missions-reflections-from-the-icuas-2022-competition\/","title":{"rendered":"UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition"},"content":{"rendered":"\t\t
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UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition\n<\/h1>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\tAbstract<\/span>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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The technological advancement in Unmanned Aerial Vehicles (UAVs) or drones and their deployment in real-life Search and Rescue (SAR) missions is imminent. We, therefore, present a perception-aware autonomous exploration framework aimed at performing vision-based target detection and collision avoidance with an Unmanned Aerial Vehicle (UAV). The UAV utilizes a depth camera for maneuvering and finding the target. The underlying indoor exploration approach considers autonomous collision-free navigation, as well as target detection with a ballistic ball payload delivery without a prior map. Moreover, the proposed method allows safe navigation in enclosed unknown areas congested with randomly positioned obstacles and target locations. Our underlined end-to-end system architecture integrates the proposed exploration strategy. Extensive simulation experiments, using several Key Performance Indicators (KPIs), showcase the effectiveness of the proposed Robot Operating System (ROS) framework in a simulated Gazebo environment under various parameter settings.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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IEEE Publication<\/a><\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition Abstract The technological advancement in Unmanned Aerial Vehicles (UAVs) or drones and their deployment in real-life Search and Rescue (SAR) missions is imminent. We, therefore, present a perception-aware autonomous exploration framework aimed at performing vision-based target detection and collision avoidance […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ocean_post_layout":"full-screen","ocean_both_sidebars_style":"","ocean_both_sidebars_content_width":0,"ocean_both_sidebars_sidebars_width":0,"ocean_sidebar":"0","ocean_second_sidebar":"0","ocean_disable_margins":"enable","ocean_add_body_class":"","ocean_shortcode_before_top_bar":"","ocean_shortcode_after_top_bar":"","ocean_shortcode_before_header":"","ocean_shortcode_after_header":"","ocean_has_shortcode":"","ocean_shortcode_after_title":"","ocean_shortcode_before_footer_widgets":"","ocean_shortcode_after_footer_widgets":"","ocean_shortcode_before_footer_bottom":"","ocean_shortcode_after_footer_bottom":"","ocean_display_top_bar":"default","ocean_display_header":"default","ocean_header_style":"","ocean_center_header_left_menu":"0","ocean_custom_header_template":"0","ocean_custom_logo":0,"ocean_custom_retina_logo":0,"ocean_custom_logo_max_width":0,"ocean_custom_logo_tablet_max_width":0,"ocean_custom_logo_mobile_max_width":0,"ocean_custom_logo_max_height":0,"ocean_custom_logo_tablet_max_height":0,"ocean_custom_logo_mobile_max_height":0,"ocean_header_custom_menu":"0","ocean_menu_typo_font_family":"0","ocean_menu_typo_font_subset":"","ocean_menu_typo_font_size":0,"ocean_menu_typo_font_size_tablet":0,"ocean_menu_typo_font_size_mobile":0,"ocean_menu_typo_font_size_unit":"px","ocean_menu_typo_font_weight":"","ocean_menu_typo_font_weight_tablet":"","ocean_menu_typo_font_weight_mobile":"","ocean_menu_typo_transform":"","ocean_menu_typo_transform_tablet":"","ocean_menu_typo_transform_mobile":"","ocean_menu_typo_line_height":0,"ocean_menu_typo_line_height_tablet":0,"ocean_menu_typo_line_height_mobile":0,"ocean_menu_typo_line_height_unit":"","ocean_menu_typo_spacing":0,"ocean_menu_typo_spacing_tablet":0,"ocean_menu_typo_spacing_mobile":0,"ocean_menu_typo_spacing_unit":"","ocean_menu_link_color":"","ocean_menu_link_color_hover":"","ocean_menu_link_color_active":"","ocean_menu_link_background":"","ocean_menu_link_hover_background":"","ocean_menu_link_active_background":"","ocean_menu_social_links_bg":"","ocean_menu_social_hover_links_bg":"","ocean_menu_social_links_color":"","ocean_menu_social_hover_links_color":"","ocean_disable_title":"default","ocean_disable_heading":"default","ocean_post_title":"","ocean_post_subheading":"","ocean_post_title_style":"","ocean_post_title_background_color":"","ocean_post_title_background":0,"ocean_post_title_bg_image_position":"","ocean_post_title_bg_image_attachment":"","ocean_post_title_bg_image_repeat":"","ocean_post_title_bg_image_size":"","ocean_post_title_height":0,"ocean_post_title_bg_overlay":0.5,"ocean_post_title_bg_overlay_color":"","ocean_disable_breadcrumbs":"default","ocean_breadcrumbs_color":"","ocean_breadcrumbs_separator_color":"","ocean_breadcrumbs_links_color":"","ocean_breadcrumbs_links_hover_color":"","ocean_display_footer_widgets":"default","ocean_display_footer_bottom":"default","ocean_custom_footer_template":"0","ocean_post_oembed":"","ocean_post_self_hosted_media":"","ocean_post_video_embed":"","ocean_link_format":"","ocean_link_format_target":"self","ocean_quote_format":"","ocean_quote_format_link":"post","ocean_gallery_link_images":"off","ocean_gallery_id":[],"footnotes":""},"categories":[6],"tags":[],"class_list":["post-229","post","type-post","status-publish","format-standard","hentry","category-publications","entry"],"_links":{"self":[{"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/posts\/229","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/comments?post=229"}],"version-history":[{"count":4,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/posts\/229\/revisions"}],"predecessor-version":[{"id":233,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/posts\/229\/revisions\/233"}],"wp:attachment":[{"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/media?parent=229"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/categories?post=229"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kios.ucy.ac.cy\/spa\/wp-json\/wp\/v2\/tags?post=229"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}