Team of multiple autonomous UAVs interacting with static objects

Stasinchuk, Yurii

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dc.contributor.author	Stasinchuk, Yurii
dc.date.accessioned	2024-02-15T10:48:21Z
dc.date.available	2024-02-15T10:48:21Z
dc.date.issued	2020
dc.identifier.citation	Stasinchuk, Yurii. Team of multiple autonomous UAVs interacting with static objects / Stasinchuk, Yurii; Supervisor: Martin Saska; Ukrainian Catholic University, Department of Computer Sciences. – Lviv: 2020. – 68 p.	uk
dc.identifier.uri	https://er.ucu.edu.ua/handle/1/4527
dc.language.iso	en	uk
dc.title	Team of multiple autonomous UAVs interacting with static objects	uk
dc.type	Preprint	uk
dc.status	Публікується вперше	uk
dc.description.abstracten	The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is a presti- gious competition, aimed at furthering the state-of-the-art in the field of autonomous robotics. This thesis presents my part of the solution to one of the tasks in the MBZIRC 2020 competition, which landed us a second place in Challenge 1 and a first place in the Grand Challenge of the competition. Specifically, this thesis focuses on the balloon popping task, which had to be solved quickly and robustly in order to compete with systems from other expert robotic teams from the whole world. In this task, a team of cooperating Unmanned Aerial Vehicles (UAVs) had to au- tonomously search and destroy balloons, placed in a designated arena, as fast as possible. A software and hardware overview of the used UAV platform is presented and the detection, estimation and planning algorithms of our winning solution are described in detail. Evaluation of the described methods on data from the competi- tion is presented.	uk