Artículos en revistas:
A Fully-Autonomous Aerial Robot for Search and Rescue Applications in Indoor Environments using Learning-Based Techniques
A Fully-Autonomous Aerial Robot for Search and Rescue Applications in Indoor Environments using Learning-Based Techniques
Año:2018
Áreas de investigación
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Inteligencia artificial, -
Robótica,
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Ingeniería eléctrica, electrónica y automática,
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Visión por computador
Datos
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Descripción
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| 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. | |
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Internacional
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Si |
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JCR del ISI
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Título de la revista
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Journal of Intelligent & Robotic Systems |
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ISSN
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0921-0296 |
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Factor de impacto JCR
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1,583 |
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Información de impacto
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Datos JCR del año 2017 |
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Volumen
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DOI
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10.1007/s10846-018-0898-1 |
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Número de revista
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Desde la página
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1 |
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Hasta la página
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27 |
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Mes
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JULIO |
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Ranking
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Participantes
- Autor: Carlos Sampedro Perez (UPM)
- Autor: Alejandro Rodriguez Ramos (UPM)
- Autor: Hriday Bavle Milind (UPM)
- Autor: Adrián Carrió Fernández (UPM)
- Autor: Paloma de la Puente Yusty (UPM)
- Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
- 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
S2i 2023 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)