在救援任务中使用无人机的综合开源决策框架
Björn Döschl1, Kai Sommer1, Jane Jean Kiam1
1Department of Aerospace Engineering, Institute of Flight Systems, University of the Bundeswehr Munich, Neubiberg, Germany.
Frontiers in robotics and AI
|August 28, 2025
概括
本研究介绍了AUSPEX,这是一个开源框架,用于搜索和救援 (SAR) 任务的无人机决策. AUSPEX提供了一个模块化,适应各种SAR挑战的系统.
科学领域:
- 机器人和自主系统
- 人工智能
- 搜索和救援技术
背景情况:
- 无人机对于搜救至关重要,因为无人机能够进入危险地区,并且具有成本效益.
- 目前的无人机系统缺乏适应各种SAR决策需求的能力,并且通常非开源,限制了先进算法的集成.
研究的目的:
- 引入自动化无人飞行计划和执行系统 (AUSPEX),这是一个新的开源框架.
- 加强无人机系统在搜救任务中的决策能力.
- 提供一个模块化和可适应的框架,支持多样化的无人机平台.
主要方法:
- 开发了AUSPEX作为一个整体,模块化和开源的框架.
- 集成的知识表示,感知,规划和执行能力与先进的决策算法.
- 通过开放式架构确保与异质和通用无人机平台的兼容性.
主要成果:
- AUSPEX提供了一个可扩展和可扩展的系统,仅依靠开源组件.
- 与REAP模拟框架 (软件在循环中) 和AUGUR图形用户界面的演示集成.
- 验证了通用SAR场景的AUSPEX,展示了其适应性和未来增强的潜力.
结论:
- AUSPEX 显著提高了无人机在搜救任务中的决策能力.
- AUSPEX的开源和模块化特性促进了透明度,可扩展性和可扩展性.
- AUSPEX为当前的SAR挑战和未来自主系统的进步提供了多功能解决方案.
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