Localization, mapping and search by UGV with assistance of UAV group

Full project name: Localization, mapping and finding the path for an unmanned ground robot (UGV) using a group of unmanned aerial vehicles (UAVs) using active collective technical vision and planning in the general trust-based space of a group of robots.

Currently, one of the most urgent tasks of robotics is the problem of interaction between unmanned ground robots (UGV) and unmanned aerial vehicles (UAVs). Due to the different specifics of installed sensor systems and heterogeneous operational space of robots, heterogeneous groups of robots working as one team could more successfully solve information gathering and security tasks, as well as solve more private search and rescue and transport and logistics tasks.

This project is aimed at theoretical and experimental study of the interaction of a heterogeneous group of robots. The group consists of one UGV and several UAVs performing joint search and rescue tasks in an environment unknown in advance and in an uncertain environment. The concept of an uncertain environment includes one or more factors that significantly complicate the search task. For example:

• previously unknown dynamic environment;
• environment with moving objects;
• environment represented by limited or completely unsuitable local and / or global maps;

To ensure reliable autonomus work of a group of robots, robots together perform the following operations:

• explore the environment using active collective technical vision;
• monitor their internal states;
• perform mapping using the simultaneous navigation and mapping method (SLAM) for a group of robots;
• accordingly, they plan their actions and the optimal routes for the accomplishment of the group task in the general trust-based space.

The goal of our research is to create a concept and develop an experimental prototype of a joint autonomous rpath planning system for a heterogeneous group of robots in a previously unknown dynamic environment in conditions of uncertainty. We expect that the result of our research will significantly improve the group management capabilities of the heterogeneous group of robots due to the combination of different approaches of the Russian and Israeli research groups and will allow optimal use of the capabilities of the autonomous group of inexpensive rapid deployment robots, including in search and rescue scenarios.

The work is carried out with the support of the Russian Foundation for Basic Research (RFBR) and the Ministry of Science, Technology and Space of Israel (joint project ID 15-57-06010).

Publications on Project

Indexed in WoS and Scopus:
1. R. Lavrenov, A. Zakiev, E. Magid. Automatic mapping and filtering tool: From a sensor-based occupancy grid to a 3D Gazebo octomap. International Conference on Mechanical, System and Control Engineering, 2017, pp.190-195. 

2. E. Magid, R. Lavrenov, I. Afanasyev. Voronoi-based trajectory optimization for UGV path planning. International Conference on Mechanical, System and Control Engineering, 2017, pp. 383-387.
3. A. Buyval, I. Afanasyev, E. Magid. Comparative analysis of ROS-based Monocular SLAM methods for indoor navigation. Ninth International Conference on Machine Vision. International Society for Optics and Photonics, 2017, pp. 103411K-103411K-6.

Indexed in WoS (without Scopus):
4. M. Sokolov, I. Afanasyev, R. Lavrenov, A. Sagitov, L. Sabirova. Magid, E. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment. The 2017 International Conference on Artificial Life and Robotics, 2017, pp. 360-363.
5. N. Alishev, R. Lavrenov, Y. Gerasimov. Russian mobile robot Servosila Engineer: designing an optimal integration of an extra laser range finder for SLAM purposes. The 2018 International Conference on Artificial ALife and Robotics, 2018, pp.204-207.
6. K. Shabalina, A. Sagitov, H. Li, E.A. Martinez-Garcia, E. Magid. Virtual Experimental Stand for Automated Fiducial Marker Comparison in Gazebo Environment. The 2018 International Conference on Artificial ALife and Robotics 2018, pp. 411-414.
7. R. Safin, R. Lavrenov. Implementation of ROS package for simultaneous video streaming from several different cameras. The 2018 International Conference on Artificial ALife and Robotics, 2018, pp.220-223.
8. A. Zakiev, R. Lavrenov, E. Magid, V. Indelman. Path planning for Indoor Partially Unknown Environment Exploration and Mapping. The 2018 International Conference on Artificial ALife and Robotics, 2018, pp. 299-302.
9. R. Lavrenov. Smart Spline-Based Robot Navigation on Several Homotopies: Guaranteed Avoidance of Potential Function Local Minima. The 2018 International Conference on Artificial Alife and Robotics, 2018, pp. 407-410.

Indexed in Scopus (without WoS):
10. M. Sokolov, R. Lavrenov, A. Gabdullin, I. Afanasyev, E. Magid. 3D modelling and simulation of a crawler robot in ROS/Gazebo. Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 2016, pp. 61-65.
11. I. Shimchik, A. Sagitov, I. Afanasyev, F. Matsuno, E. Magid. Golf cart prototype development and navigation simulation using ROS and Gazebo, MATEC Web of Conferences, EDP Sciences, vol. 75, 2016, pp. 09005.
12. R. Lavrenov, A. Zakiev. Tool for 3D Gazebo map construction from arbitrary images and laser scans. International Conference on Developments in eSystems Engineering, 2017
13. A. Sagitov, Y. Gerasimov. Towards DJI Phantom 4 Realistic Simulation with Gimbal and RC Controller in ROS/Gazebo Environment. International Conference on Developments in eSystems Engineering, 2017
14. E. Magid, R. Lavrenov, A. Khasianov. Modified spline-based path planning for autonomous ground vehicle. 14th International Conference on Informatics in Control, Automation and Robotics, 2017, pp.132-141.
15. A. Sagitov, K. Shabalina, L. Sabirova, Li H., E. Magid. ARTag, AprilTag and CALTag fiducial marker systems: Comparison in a presence of partial marker occlusion and rotation. Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics, vol. 2, 2017, pp. 182-191. 
16. R. Lavrenov, F. Matsuno, E. Magid. Modified spline-based navigation: Guaranteed safety for obstacle avoidance. Lecture Notes in Computer Science, The 2nd International Conference on Interactive Collaborative Robotics, Hatfield, United Kingdom, vol. 10459, 2017, pp. 123-133.
17. R. Lavrenov, E. Magid. Towards heterogeneous robot team path planning: Acquisition of multiple routes with a modified spline-based algorithm. MATEC Web of Conferences, EDP Sciences, vol. 113, 2017, №02015.
18. R. Safin, R. Lavrenov, S. Saha, E. Magid. Experiments on mobile robot stereo vision system calibration under hardware imperfection. 13th International Scientific-Technical Conference on Electromechanics and Robotics "Zavalishin's Reading", 2018 (в печати)

Indexed in E-library:
19. А. Габдуллин, A. Буйвал, P. Лавреновa, Е. Магид. ROS-моделирование взаимодействия БПЛА и наземного беспилотного робота для решения задачи планирования маршрута в статической среде. Третий Всероссийский научно-практический семинар «Беспилотные транспортные средства с элементами искусственного интеллекта»: Труды семинара, 2016, c. 21-31.
20. Е. Магид, Р. Лавренов, А. Газизов, М. Соколов, И. Афанасьев. Опыт разработки симулятора для мобильного робота «Сервосила «Инженер». Сборник материалов XII Всероссийской научно-практической конференции «Перспективные системы и задачи управления», 2017, с. 1-17.
21. А. Закиев, О. Лавренов, Е. Магид. Программный инструмент для создания 3D карт в Gazebo на основе произвольных изображений и данных лазерного сканирования. IV Всероссийский научно-практический семинар «Беспилотные транспортные средства с элементами искусственного интеллекта»: Труды семинара, 2017, c. 76-86.
22. Р. Лавренов, Е. Магид. Поиск маршрута для наземного робота: модифицированный алгоритм планирования на основе сплайнов. IV Всероссийский научно-практический семинар «Беспилотные транспортные средства с элементами искусственного интеллекта»: Труды семинара, 2017, c. 96-106.
23. P. Лавренов, И. Афанасьев, Е. Магид. Планирование маршрута для беспилотного наземного робота с учетом множества критериев оптимизации. III Всероссийский научно-практический семинар «Беспилотные транспортные средства с элементами искусственного интеллекта»: Труды семинара, 2016, c. 10-20.
24. А. Сагитов, Ю. Герасимов, Е. Магид. Моделирование трехосного подвеса камеры квадкоптера DJI и радиоуправления в среде ROS/ Gazebo. IV Всероссийский научно-практический семинар «Беспилотные транспортные средства с элементами искусственного интеллекта»: Труды семинара, 2017, c. 87-95.
25. Р. Сафин, Р. Лавренов, Р. Боби, С. Саха, Е. Магид. Эксперименты по калибровке камер мобильного робота при наличии аппаратных дефектов в системе технического зрения. Научно-методический и информационный журнал Вестник НЦБЖД, 2018 (в печати)
26. К. Шабалина, Е. Магид, А. Сагитов. Виртуальный подход для проведения автоматизированных экспериментов сравнения систем координатных меток в среде GAZEBO. Научно-методический и информационный журнал Вестник НЦБЖД, 2018 (в печати)

Other publications:
27. R. Lavrenov, A. Gabdullin, I. Afanasyev, V. Indelman, E. Magid. Towards heterogeneous robot team path planning in dynamic search and rescue scenarios. The Proceedings of JSME annual Conference on Robotics and Mechatronics (ROBOMECH). The Japan Society of Mechanical Engineers, 2016, pp. 1A1-03b1.
28. I. Shimchik, A. Sagitov, I. Afanasyev, F. Matsuno. Magid, E. Developing an autonomous service car: golf-cart prototype modelling. The Robotics and Mechatronics Conference (ROBOMECH), 2016, pp. 1P1-07a3.
29. Р. Лавренов, Е. Магид, А. Габдуллин. Моделирование взаимодействия группы БПЛА и наземного робота для задачи планирования пути с учетом изменяющихся критериев оценки качества маршрута. Вторая Военно-научная конференция «Роботизация вооруженных сил Российской федерации», 2017

Patents:
30. Авторское свидетельство на программу ЭВМ «Программный комплекс с графическим интерфейсом для дистанционного управления гусеничным роботом»