Memorias de investigación
Research Publications in journals:
A Fully-Autonomous Aerial Robot for Search and Rescue Applications in Indoor Environments using Learning-Based Techniques
Year:2018

Research Areas
  • Artificial intelligence,
  • Robotics,
  • Electric engineers, electronic and automatic (eil),
  • Computer vision

Information
Abstract
In this paper, we present a fully-autonomous aerial robotic solution, for executing complex SAR missions in unstructured indoor environments. The proposed system is based on the combination of a complete hardware configuration and a flexible system architecture which allows the execution of high-level missions in a fully unsupervised manner (i.e. without human intervention). In order to obtain flexible and versatile behaviors from the proposed aerial robot, several learning-based capabilities have been integrated for target recognition and interaction. The target recognition capability includes a supervised learning classifier based on a computationally-efficient Convolutional Neural Network (CNN) model trained for target/background classification, while the capability to interact with the target for rescue operations introduces a novel 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 aerial robot for performing IBVS tasks, a reinforcement learning framework has been developed, which integrates a deep reinforcement learning agent (e.g. DDPG) with a Gazebo-based simulator for aerial robotics.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
1,583
Impact info
Datos JCR del año 2017
Volume
10.1007/s10846-018-0898-1
Journal number
From page
1
To page
27
Month
JULIO
Ranking
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Control Inteligente
  • Grupo de Investigación: Visión por Computador y Robótica Aérea
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial