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Conference Papers Year : 2023

HMAS: enabling seamless collaboration between drones, quadruped robots, and human operators with efficient spatial awareness

Amaury Saint-Jore
Ye-Qiong Song
Laurent Ciarletta

Abstract

Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However, seamlessly integrating heterogeneous agents and making them interact and collaborate still arise challenging issues. In this paper, we define a ROS 2 based software architecture that allows to build incarnated heterogeneous multi-agent systems (HMAS) in a generic way. We showcase its effectiveness through a scenario integrating aerial drones, quadruped robots, and human operators (see https://youtu.be/iOtCCticGuk). In addition, agent spatial awareness in unknown outdoor environments is a critical step for realizing autonomous individual movements, interactions, and collaborations. Through intensive experimental measurements, RTK-GPS is shown to be a suitable solution for achieving the required locating accuracy.
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Dates and versions

hal-04311426 , version 1 (28-11-2023)

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Amaury Saint-Jore, Ye-Qiong Song, Laurent Ciarletta. HMAS: enabling seamless collaboration between drones, quadruped robots, and human operators with efficient spatial awareness. IEEE 21th International Conference on Embedded and Ubiquitous Computing (EUC), Nov 2023, Exeter, United Kingdom. ⟨hal-04311426⟩
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