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Memorias de investigación
Artículos en revistas:
A Fully-Autonomous Aerial Robot for Search and Rescue Applications in Indoor Environments Using Deep Learning Techniques (under review)
Año:2017
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
In this paper, a fully-autonomous aerial robotic solution, for executing Search and Rescue (SAR) missions in unstructured indoor environments, has been developed. The proposed system is based on the combination of a complete hardware configuration and a flexible system architecture which permits the execution of high-level missions in a fully unsupervised manner. In order to obtain complex and robust behaviors from the proposed aerial robot, several deep learning capabilities have been integrated for target recognition and interaction. The target recognition capability is based on a supervised learning classifier developed as a Convolutional Neural Network (CNN) trained for target/background classification, while the target interaction capability introduces an Image-Based Visual Servoing (IBVS) algorithm which integrates a recent Deep Reinforcement Learning method named Deep Deterministic Policy Gradients (DDPG). In order to train the UAV for performing IBVS tasks, our own reinforcement learning framework has been developed, which integrates deep reinforcement learning capabilities (e.g. DDPG) with a Gazebo-based environment for aerial robotics. The proposed system has been validated in a wide range of simulation flights, using Gazebo and PX4 Software-In-The-Loop, and real flights in unstructured indoor environments, demonstrating the versatility of the proposed system.
Internacional
Si
JCR del ISI
Si
Título de la revista
Journal of Intelligent & Robotic Systems
ISSN
0921-0296
Factor de impacto JCR
1,512
Información de impacto
Datos JCR del año 2017
Volumen
DOI
Número de revista
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Participantes
  • Autor: Carlos Sampedro Perez (UPM)
  • Autor: Alejandro Rodriguez Ramos (UPM)
  • Autor: Hriday Bavle Milind (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
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