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

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

    1 Citation (Scopus)
    24 Downloads (Pure)

    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

    Fingerprint

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