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Indoor Visual Exploration with Multi-Rotor Aerial Robotic Vehicles.

Panagiotis Rousseas¹, George C Karras^1,2, Charalampos P Bechlioulis^1,3

¹Control Systems Laboratory, National Technical University of Athens, 15772 Athens, Greece.

Sensors (Basel, Switzerland)

|July 27, 2022

Summary

This study introduces a safe, reactive algorithm for multiple drones exploring unknown indoor spaces. The novel two-level control ensures efficient, collaborative navigation and workspace coverage.

Keywords:

autonomous navigation multi-agent systems multi-rotor aerial vehicles robotic exploration unmanned aerial vehicles

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Area of Science:

Robotics
Artificial Intelligence
Control Systems

Background:

Autonomous exploration of unknown indoor environments presents significant challenges for multi-rotor robots.
Existing methods often struggle with safety guarantees, computational complexity, and multi-agent coordination.

Purpose of the Study:

To develop a reactive algorithm for autonomous exploration using multiple autonomous multi-rotor robots in indoor, unknown environments.
To ensure provable safety and complete workspace exploration through a novel control architecture.

Main Methods:

A two-level control architecture combining Artificial-Harmonic Potential Field (AHPF) for navigation and a low-level tracking controller.
Extension to a multi-agent approach for collaborative navigation.
Integration of approximate techniques for AHPF acquisition to reduce computational complexity.

Main Results:

The AHPF guarantees safety and workspace exploration.
The low-level controller ensures safe tracking of the AHPF via velocity commands.
High-fidelity simulations validated the robust framework for multi-agent exploration tasks.

Conclusions:

The proposed method offers a robust and computationally efficient solution for multi-agent autonomous exploration in unknown indoor environments.
The two-level control architecture effectively addresses the challenges of navigation, safety, and coordination for multi-rotor robots.