Titre
ShAreable Mapping using heterogeneoUs sensoRs for collAborative robotIcs
Résumé

The ambition of the project is to design new approaches for the long term navigation of a multi-robot system collaborating on a common monitoring tasks, in a urban or peri-urban environment using heterogeneous sensors in order to facilitate their implementation (reduction of preparation time and costs). By monitoring task, we intend to collect accurate data in a specific area and for a specific data processing (which depends on the targeted application, for instance defects detection and following the evolution). The scientific objectives of the project are: (i) to build shareable maps of a complex environment using high-end heterogeneous sensors (lidar, vision, IMU, GPS, ...); (ii) to utilize the map to perform long term infrastructure monitoring using collaborative robots having low-end sensors different from the high-end sensors used to build the shareable map; (iii) to update the map when changes are detected using the data collected by the robots with limited sensor capability during their monitoring task. The developed approaches will be validated experimentally on a scenario concerning the monitoring of a building in a urban or peri-urban environment (e.g. a church or an historical building) and the update of the shareable map using ground and aerial robots.

Objectifs

-The first scientific objective of the project is to produce shareable maps of a dynamic environment using heterogeneous sensors (lidar, conventional to 360 vision, IMU, GPS, ...) mounted on several robots including at least a ground robot and an aerial drone.

- The second scientific objective is to utilize the shareable map to perform collaboration tasks using robots having sensors different from the sensors used to build the shareable map.

- The third scientific objective is to update the shareable maps using the data collected by the robots with limited sensor capability during their current task.

Date de début
Date de fin
Responsable pour le MIS
El Mustapha MOUADDIB
Financement pour le MIS ( en euros)
168 000.00
Partenaire(s)
INRIA
LS2N
Responsable global du projet
Ezio MALIS
Financement global du projet ( en euros)
648 597.00
Organisme financeur

UPJV