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dc.contributor.authorPeterson, Johnen
dc.contributor.authorChaudhry, Haseeben
dc.contributor.authorAbdelatty, Karimen
dc.contributor.authorBird, Johnen
dc.contributor.authorKochersberger, Kevinen
dc.date.accessioned2018-03-01T14:00:54Zen
dc.date.available2018-03-01T14:00:54Zen
dc.date.issued2018-02-20en
dc.identifier.citationPeterson, J.; Chaudhry, H.; Abdelatty, K.; Bird, J.; Kochersberger, K. Online Aerial Terrain Mapping for Ground Robot Navigation. Sensors 2018, 18, 630.en
dc.identifier.urihttp://hdl.handle.net/10919/82424en
dc.description.abstractThis work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.en
dc.format.mimetypeapplication/pdfen
dc.languageen_USen
dc.publisherMDPIen
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleOnline Aerial Terrain Mapping for Ground Robot Navigationen
dc.typeArticle - Refereeden
dc.date.updated2018-02-27T14:28:30Zen
dc.contributor.departmentMechanical Engineeringen
dc.title.serialSensorsen
dc.identifier.doihttps://doi.org/10.3390/s18020630en
dc.type.dcmitypeTexten


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Creative Commons Attribution 4.0 International
License: Creative Commons Attribution 4.0 International