Autonomous Battery Exchange of UAVs with a Mobile Ground Base

Eamon Barrett, Mark Reiling, Seyedmohsen Mirhassani, Rene Meijering, Jeroen Jager, Nicola Mimmo, Flavio Callegati, Lorenzo Marconi, Raffaella Carloni, Stefano Stramigioli

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Abstract

This paper presents the autonomous battery exchange operation for small scale UAVs, using a mobile ground base that carries a robotic arm and a service station containing the battery exchange mechanism. The goal of this work is to demonstrate the means to increase the autonomy and persistence of robotic systems without requiring human intervention. The design and control of the system and its components are presented in detail, as well as the collaborative software framework used to plan and execute complex missions. Finally, the results of autonomous outdoor experiments are presented, in which the ground rover successfully localizes, retrieves, services, and deploys the landed UAV, proving its capacity to extend and enhance autonomous operations.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherIEEE
Pages699-705
Number of pages7
ISBN (Electronic)9781538630815
DOIs
Publication statusPublished - 10 Sep 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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Unmanned aerial vehicles (UAV)
Robotic arms
Filling stations
Robotics
Experiments

Cite this

Barrett, E., Reiling, M., Mirhassani, S., Meijering, R., Jager, J., Mimmo, N., ... Stramigioli, S. (2018). Autonomous Battery Exchange of UAVs with a Mobile Ground Base. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 699-705). [8460201] IEEE. https://doi.org/10.1109/ICRA.2018.8460201
Barrett, Eamon ; Reiling, Mark ; Mirhassani, Seyedmohsen ; Meijering, Rene ; Jager, Jeroen ; Mimmo, Nicola ; Callegati, Flavio ; Marconi, Lorenzo ; Carloni, Raffaella ; Stramigioli, Stefano. / Autonomous Battery Exchange of UAVs with a Mobile Ground Base. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, 2018. pp. 699-705
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Barrett, E, Reiling, M, Mirhassani, S, Meijering, R, Jager, J, Mimmo, N, Callegati, F, Marconi, L, Carloni, R & Stramigioli, S 2018, Autonomous Battery Exchange of UAVs with a Mobile Ground Base. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460201, IEEE, pp. 699-705, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460201

Autonomous Battery Exchange of UAVs with a Mobile Ground Base. / Barrett, Eamon; Reiling, Mark; Mirhassani, Seyedmohsen; Meijering, Rene; Jager, Jeroen; Mimmo, Nicola; Callegati, Flavio; Marconi, Lorenzo; Carloni, Raffaella; Stramigioli, Stefano.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, 2018. p. 699-705 8460201.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Barrett E, Reiling M, Mirhassani S, Meijering R, Jager J, Mimmo N et al. Autonomous Battery Exchange of UAVs with a Mobile Ground Base. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. 2018. p. 699-705. 8460201 https://doi.org/10.1109/ICRA.2018.8460201