Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment

no code implementations • 11 Feb 2021 • Matteo De Petrillo, Jared Beard, Yu Gu, Jason N. Gross

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment.

Simultaneous Localization and Mapping Trajectory Planning Robotics