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Publications (10 of 33) Show all publications
Bai, Y., Lindqvist, B., Karlsson, S., Kanellakis, C. & Nikolakopoulos, G. (2024). Cluster-based Multi-Robot Task Assignment, Planning, and Control.
Open this publication in new window or tab >>Cluster-based Multi-Robot Task Assignment, Planning, and Control
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2024 (English)In: Article in journal (Other academic) Submitted
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-103890 (URN)
Available from: 2024-01-23 Created: 2024-01-23 Last updated: 2024-01-24
Lindqvist, B., Mansouri, S. S., Kanellakis, C. & Kottayam Viswanathan, V. (2023). ARW deployment for subterranean environments. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications: (pp. 213-243). Elsevier
Open this publication in new window or tab >>ARW deployment for subterranean environments
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 213-243Chapter in book (Other academic)
Abstract [en]

This chapter will present the application of deployment of full autonomous Aerial Robotic Workers for inspection and exploration tasks in Subterranean environments. The framework shown will focus on the navigation, control, and perception capabilities of resource-constrained aerial platforms, contributing to the development of consumable scouting robotic platforms for real-life applications in extreme environments. In the approach, the aerial platform will be treated as a floating object, commanded by a velocity controller on the x-y axes, a height controller, as well as a heading correction module aligning the platform with the mining tunnel open space. Multiple experimentally verified methods regarding the heading correction module, for dark environments with limited texture, using either a visual camera or a 2D LiDAR presented in real mining environments are presented.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Subterranean, Autonomous, Reactive navigation, Collision avoidance
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-97388 (URN)10.1016/B978-0-12-814909-6.00018-4 (DOI)2-s2.0-85150120419 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2023-05-24Bibliographically approved
Patel, A., Banerjee, A., Papadimitriou, A. & Lindqvist, B. (2023). Control of ARWs. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications (pp. 49-65). Elsevier
Open this publication in new window or tab >>Control of ARWs
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 49-65Chapter in book (Other academic)
Abstract [en]

This Chapter focuses on Aerial Robotic Workers (ARWs) various control methods to successfully track the desired states, waypoints, and trajectories. Additionally, this Chapter discusses the regulation from the motor commands level to the accurate tracking of waypoints in 3D space. Various model-based control frameworks are presented based on the modeled dynamics of the Modeling for ARWs (Chapter 3). Initially, a classical Proportional-Integral-Derivative (PID) control scheme is introduced, while in the sequel, a Linear Quadratic Regulator (LQR) and a Model Predictive Controller (MPC) are designed for the linearized dynamics of ARWs. In the sequel, a Nonlinear-MPC (NMPC) version of the simplified position control scheme is given. Finally, a switching MPC is presented for the attitude regulation of a reconfigurable ARW.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Proportional-integral-derivative controller, Model predictive control, Linear quadratic regulator, Nonlinear control
National Category
Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96924 (URN)10.1016/B978-0-12-814909-6.00010-X (DOI)2-s2.0-85150085870 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-04-24 Created: 2023-04-24 Last updated: 2023-05-08Bibliographically approved
Patel, A., Karlsson, S., Lindqvist, B. & Koval, A. (2023). Exploration with ARWs. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications: (pp. 109-127). Elsevier
Open this publication in new window or tab >>Exploration with ARWs
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 109-127Chapter in book (Other academic)
Abstract [en]

This chapter presents an overview of various exploration schemes with single and multi Aerial Robotic Workers (ARWs) and their applications in Search and Rescue, Environmental Monitoring, and planetary exploration missions, under the assumption that the map is partially known or completely unknown. The presented methods in the chapter are in line with the field deployment of the ARWs in subterranean and planetary exploration missions. The addressed questions will include the operating environment configuration and path planning methods for single and multi-robot exploration. The chapter will also briefly present two exploration strategies in terms of frontier and sampling-based exploration algorithms. More specifically, frontier-based and Rapidly Exploring Random Tree (RRT)-based exploration methodologies with results will be explained in detail.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Exploration, Unknown environment, ARW, Search and rescue, Frontiers, Planetary exploration, RRT
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-97385 (URN)10.1016/B978-0-12-814909-6.00013-5 (DOI)2-s2.0-85150135982 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2023-05-24Bibliographically approved
Lindqvist, B., Kottayam Viswanathan, V., Karlsson, S. & Satpute, S. G. (2023). Navigation for ARWs. In: George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis (Ed.), Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications: (pp. 79-108). Elsevier
Open this publication in new window or tab >>Navigation for ARWs
2023 (English)In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 79-108Chapter in book (Other academic)
Abstract [en]

This chapter presents an overview of various navigation schemes used for ARWs and their application areas. Navigation schemes, in general, answer the question of how to move from the current position to the desired and optimally plan the path between them, which is a necessary step for almost all applications for autonomous flight. This chapter will go over reactive navigation schemes, such as the potential fields and Model Predictive Control with integrated obstacle avoidance, as well as global path-planning methods, such as map-based iterative planners like D, and planning for complete coverage of infrastructure to perform a visual inspection.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Path planning, Reactive obstacle avoidance, Coverage planning, Heading regulation
National Category
Robotics Control Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-97386 (URN)10.1016/B978-0-12-814909-6.00012-3 (DOI)2-s2.0-85150131886 (Scopus ID)978-0-12-814909-6 (ISBN)
Available from: 2023-05-24 Created: 2023-05-24 Last updated: 2023-05-24Bibliographically approved
Dahlquist, N., Lindqvist, B., Saradagi, A. & Nikolakopoulos, G. (2023). Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees. In: 2023 IEEE Conference on Control Technology and Applications (CCTA): . Paper presented at 2023 IEEE Conference on Control Technology and Applications (CCTA), August 16-18, 2023, Bridgetown, Barbados (pp. 829-834). IEEE
Open this publication in new window or tab >>Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees
2023 (English)In: 2023 IEEE Conference on Control Technology and Applications (CCTA), IEEE, 2023, p. 829-834Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
IEEE, 2023
Series
Control Technology and Applications, ISSN 2768-0762, E-ISSN 2768-0770
National Category
Computer Sciences
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-103675 (URN)10.1109/CCTA54093.2023.10252961 (DOI)979-8-3503-3544-6 (ISBN)979-8-3503-3545-3 (ISBN)
Conference
2023 IEEE Conference on Control Technology and Applications (CCTA), August 16-18, 2023, Bridgetown, Barbados
Available from: 2024-01-16 Created: 2024-01-16 Last updated: 2024-02-14Bibliographically approved
Lindqvist, B. (2023). Reactive Navigation Methods for Autonomous Robots: Safety, Coordination, and Field Deployment. (Doctoral dissertation). Luleå: Luleå University of Technology
Open this publication in new window or tab >>Reactive Navigation Methods for Autonomous Robots: Safety, Coordination, and Field Deployment
2023 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

In the new era of intelligent systems, small-scale electronics, and advanced sensors, the application use-cases and operational capabilities of autonomous robots are exponentially increasing. Through their ability to execute complex tasks while relying only on onboard sensors and computation, autonomous field robots are showing promising results in inspection of infrastructure, search-and-rescue or surveillance, maintenance tasks, or in general operations in areas that prove to be dangerous or hazardous for human operators to enter, while also often increasing the efficiency of such tasks. But, to enable robots to autonomously execute their missions the demands on onboard intelligence is increasing rapidly as well. As robot operations move into complex and dynamic environments, into mixed-traffic or multi-robot operational scenarios, or into missions that demand the exploration and navigation of completely unknown areas, a new paradigm of autonomous robot navigation and collision avoidance algorithms need to be developed as well. Towards achieving the vision of autonomous robots performing such tasks for the good of society, this new paradigm of navigation capabilities must first be extended to operate outside of simulation environments, and then to operations in realistic field conditions with all the challenges that comes with that. 

This thesis presents the development of a series of navigation methods for autonomous robots, with a specific focus on Unmanned Aerial Vehicles (UAVs). The vision of this thesis is to further the application areas of completely autonomous robotic platforms by extending their navigation capabilities: towards avoiding obstacles in their environment both static and dynamic, towards the critical perception-actuation link for reactive navigation, towards exploring and planning dynamic paths through previously unknown areas, and towards the coordination and safety in multi-agent robotic systems. This thesis also has a significant focus in the area of field robotics, meaning the ability to robustify and extend the robots onboard intelligence to handle the harsh conditions of real operations. This thesis will specifically investigate the application of autonomous UAVs in search-and-rescue tasks in subterranean environments, as well as a variety of inspection tasks in underground mines. In these environments the robots must operate completely autonomously without any assisting communication, computation, or perception infrastructure. In all of these areas a special focus has been placed on the real-life experimental validation of results and the required research to reach the readiness stage of such demonstrations, serving as the main motivator for the works presented in this manuscript. 

Place, publisher, year, edition, pages
Luleå: Luleå University of Technology, 2023. p. 142
Series
Doctoral thesis / Luleå University of Technology 1 jan 1997 → …, ISSN 1402-1544
Keywords
Field Robotics, NMPC, Obstacle Avoidance, Collision Avoidance, Multi-agent Systems, Robot Navigation
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101392 (URN)978-91-8048-377-3 (ISBN)978-91-8048-378-0 (ISBN)
Public defence
2023-11-16, A1547, Luleå tekniska universitet, Luleå, 09:00 (English)
Opponent
Supervisors
Available from: 2023-09-20 Created: 2023-09-20 Last updated: 2023-10-26Bibliographically approved
Patel, A., Lindqvist, B., Kanellakis, C., Agha-mohammadi, A.-a. & Nikolakopoulos, G. (2023). REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments. Journal of Intelligent and Robotic Systems, 108, Article ID 35.
Open this publication in new window or tab >>REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments
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2023 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 108, article id 35Article in journal (Refereed) Published
Abstract [en]

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying Micro Aerial Vehicles (MAVs) in autonomous exploration missions in unknown subterranean areas. The main motive of exploration algorithms is to depict the next best frontier for the MAV such that new ground can be covered in a fast, safe yet efficient manner. The proposed framework uses a novel frontier selection method that also contributes to the safe navigation of autonomous MAVs in obstructed areas such as subterranean caves, mines, and urban areas. The framework presented in this work bifurcates the exploration problem in local and global exploration. The proposed exploration framework is also adaptable according to computational resources available onboard the MAV which means the trade-off between the speed of exploration and the quality of the map can be made. Such capability allows the proposed framework to be deployed in subterranean exploration and mapping as well as in fast search and rescue scenarios. The performance of the proposed framework is evaluated in detailed simulation studies with comparisons made against a high-level exploration-planning framework developed for the DARPA Sub-T challenge as it will be presented in this article.

Place, publisher, year, edition, pages
Springer, 2023
Keywords
MAV Sub-T exploration framework, DARPA Sub-T
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96664 (URN)10.1007/s10846-023-01836-z (DOI)001012051500004 ()2-s2.0-85162264879 (Scopus ID)
Funder
EU, Horizon 2020, 869379
Note

Validerad;2023;Nivå 2;2023-08-08 (joosat);

Full text license: CC BY;

This article has previously appeared as a manuscript in a thesis

Available from: 2023-04-19 Created: 2023-04-19 Last updated: 2023-11-22Bibliographically approved
Patel, A., Karlsson, S., Lindqvist, B., Kanellakis, C., Agha-Mohammadi, A.-A. & Nikolakopoulos, G. (2023). Towards energy efficient autonomous exploration of Mars lava tube with a Martian coaxial quadrotor. Advances in Space Research, 71(9), 3837-3854
Open this publication in new window or tab >>Towards energy efficient autonomous exploration of Mars lava tube with a Martian coaxial quadrotor
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2023 (English)In: Advances in Space Research, ISSN 0273-1177, E-ISSN 1879-1948, Vol. 71, no 9, p. 3837-3854Article in journal (Refereed) Published
Abstract [en]

Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of the state of the art Mars helicopter has proven to be efficient in an open environment, the next area of interest for exploration on Mars are caves or ancient lava tube like environments, especially towards the never-ending search of life on other planets. This article presents an autonomous exploration mission based on a modified frontier approach along with a risk aware planning and integrated collision avoidance scheme with a special focus on energy aspects of a custom designed Mars Coaxial Quadrotor (MCQ) in a Martian simulated lava tube. One of the biggest novelties of the article stems from addressing the exploration capability, while rapidly exploring in local areas and intelligently global re-positioning of the MCQ when reaching dead ends in order to efficiently use the battery based consumed energy, while increasing the volume of the exploration. The proposed novel algorithm for the Martian exploration is able to select the next way point of interest, such that the MCQ keeps its heading towards the local exploration direction where it will find maximum information about the surroundings. The proposed three layer cost based global re-position point selection assists in rapidly redirecting the MCQ to previously partially seen areas that could lead to more unexplored part of the lava tube. The Martian fully simulated mission presented in this article takes into consideration the fidelity of physics of Mars condition in terms of thin atmosphere, low surface pressure and low gravity of the planet, while proves the efficiency of the proposed scheme in exploring an area that is particularly challenging due to the subterranean-like environment. The proposed exploration-planning framework is also validated in simulation by comparing it against the graph based exploration planner. Intensive simulations with true Mars conditions are carried out in order to validate and benchmark our approach in a utmost realistic Mars lava tube exploration scenario using a Mars Coaxial Quadrotor.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Frontier, Mars exploration, Mars lava tube, Global re positioning
National Category
Aerospace Engineering
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-94268 (URN)10.1016/j.asr.2022.11.014 (DOI)2-s2.0-85142513242 (Scopus ID)
Funder
EU, Horizon 2020, 869379 illuMINEation
Note

Validerad;2023;Nivå 2;2023-04-20 (hanlid)

Available from: 2022-11-25 Created: 2022-11-25 Last updated: 2023-04-20Bibliographically approved
Patel, A., Karlsson, S., Lindqvist, B., Haluska, J., Kanellakis, C. & Nikolakopoulos, G. (2023). Towards Field Deployment of MAVs in Adaptive Exploration of GPS-denied Subterranean Environments.
Open this publication in new window or tab >>Towards Field Deployment of MAVs in Adaptive Exploration of GPS-denied Subterranean Environments
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2023 (English)In: Article in journal (Other academic) Submitted
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-96665 (URN)
Available from: 2023-04-19 Created: 2023-04-19 Last updated: 2023-05-05
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-3922-1735

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