Multiple eyes in the skies: architecture and perception issues in the COMETS unmanned air vehicles project

Author

Ollero, Aníbal ; Lacroix, Simon ; Merino, Luis ; Gancet, Jeremi ; Wiklund, Johan ; Remuss, Volker ; Perez, Iker Veiga ; Gutiérrez, Luis G. ; Viegas, Domingos Xavier ; Benítez, Miguel Angel González ; Mallet, Anthony ; Alami, Rachid ; Chatila, Raja ; Homme

Author_Institution

Seville Univ., Spain

Volume

12

Issue

2

fYear

2005

fDate

6/1/2005 12:00:00 AM

Firstpage

46

Lastpage

57

Abstract

This paper describes the COMETS (Real-Time Coordination and Control of Multiple Heterogeneous Unmanned Aerial Vehicles) Project, which is aimed at designing and implementing a system for cooperative activities using heterogeneous UAVs. Heterogeneity is considered both in terms of aerial vehicles and onboard processing capabilities ranging from fully autonomous systems to conventional remotely piloted vehicles. COMETS also involves cooperative environmental perception including fire detection and monitoring as well as terrain mapping.

Keywords

aerospace robotics; helicopters; mobile robots; remotely operated vehicles; telerobotics; COMETS unmanned air vehicles project; autonomous vehicle; conventional remotely piloted vehicles; distributed aerial robotics; fully autonomous systems; onboard processing capabilities; teleoperated vehicle; Eyes; Fires; Helicopters; Land vehicles; Monitoring; Remotely operated vehicles; Research and development; Robotics and automation; Sensor arrays; Unmanned aerial vehicles;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2005.1458323

Filename

1458323