Multiple eyes in the skies - Architecture and perception issues in the comets unmanned air vehicles project

A. Ollero , Simon Lacroix (1) , L. Merino , J. Gancet , J. Wiklund , V. Remuss , I. Veiga Perez , L. Gutierrez , D.X. Viegas (2) , A. Gonzalez Benitez , A. Mallet , Raja Chatila (1) , G. Hommel , J. Colmenero Lechuga , B.C. Arrue , J. Ferruz , J. Ramiro Martinez-de Dios , F. Caballero , Rachid Alami (1)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 ADAI - Center of Studies on Forest Fires

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.

Domains: Computer Science [cs]; Artificial Intelligence [cs.AI]; Robotics [cs.RO]

A. Ollero, Simon Lacroix, L. Merino, J. Gancet, J. Wiklund, et al.. Multiple eyes in the skies - Architecture and perception issues in the comets unmanned air vehicles project. IEEE Robotics and Automation Magazine, 2005, 12 (2), pp.46-57. ⟨10.1109/MRA.2005.1458323⟩. ⟨hal-01979751⟩