Visual homing for coordinated robot team missions

Damian M. Lyons; Noah Petzinger

doi:10.1117/12.2664413

14 June 2023 Visual homing for coordinated robot team missions

Damian M. Lyons, Noah Petzinger

Proceedings Volume 12549, Unmanned Systems Technology XXV; 1254902 (2023) https://doi.org/10.1117/12.2664413
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States

Abstract

Visual homing is a lightweight approach to visual navigation to direct a single robot to a visual landmark without the use of a map or any form of GNSS. However, applications that require a team of robots to operate robustly with respect to map and GNSS requirements, may also require groups of robots to move together and/or in a coordinated fashion. Examples include agricultural robotics where several robots must coordinate to deliver material to a visually identified rallying point, or a reconnaissance and surveillance mission where robots must move towards a (potentially moving) visual target in a formation. We present and evaluate several visual homing algorithms extended to handle team homing. We present evaluation results for stationary rallying points and moving target examples using a ROS/Gazebo simulated urban environment and real Turtlebot3 robots. We show that our algorithms produce accuracies within a 95% confidence interval in both simulation and physical experiments.

Citation Download Citation

Damian M. Lyons and Noah Petzinger "Visual homing for coordinated robot team missions", Proc. SPIE 12549, Unmanned Systems Technology XXV, 1254902 (14 June 2023); https://doi.org/10.1117/12.2664413

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