Abstract
Since a few years, the number of real world applications that use drones keeps on increasing. It has also been demonstrated that swarms of heterogeneous drones can offer more features and thus support more services than single drones. While working on this paradigm, we have developed an application that makes it possible to clean a green space, using an autonomous swarm of heterogeneous drones (aerial and terrestrial). This application is called GreenSword. We describe the underlying scientific challenges of this system, our current implementation and give the retex we gained from initial experiments.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Px4 official web site. https://px4.io/
Aulinas, J., Petillot, Y., Salvi, J., Llado, X.: The Slam Problem: A Survey, vol. 184, pp. 363–371 (2008). https://doi.org/10.3233/978-1-58603-925-7-363
Autefage, V., Casteler, A., Chaumette, S., Daguisé, N., Dutartre, A., Mehamli, T.: ParCS-S2: park cleaning swarm supervision system - position paper. In: Proceedings of the 9th AIRTEC International Congress, AIRTEC 2014, Franfurt, Germany, October (2014). https://hal.archives-ouvertes.fr/hal-01115661
Autefage, V., Chaumette, S., Magoni, D.: A mission-oriented service discovery mechanism for highly dynamic autonomous swarms of unmanned systems. In: Proceedings of the 12th IEEE International Conference on Autonomic Computing, IEEE ICAC 2015, Grenoble, France, July, pp. 31–40 (2015)
Autefage, V., Chaumette, S., Magoni, D.: Comparison of time synchronization techniques in a distributed collaborative swarm system. In: Proceedings of the 24th European Conference on Networks and Communications, EuCNC 2015, Paris, France, June, pp. 460–464. IEEE (2015)
Bresson, G., Alsayed, Z., Yu, L., Glaser, S.: Simultaneous localization and mapping: a survey of current trends in autonomous driving. IEEE Trans. Intell. Veh. 2 (2017). https://doi.org/10.1109/TIV.2017.2749181. https://hal.archives-ouvertes.fr/hal-01615897
Camp, T., Boleng, J., Davies, V.: A survey of mobility models for ad hoc network research. Wirel. Commun. Mob. Comput. 2(5), 483–502 (2002)
Chaumette, S.: A swarm of drones is more than the sum of the drones that make it up. In: Conference on Complex Systems, CCS 2016, Amsterdam, Netherlands, September (2016). https://hal.archives-ouvertes.fr/hal-01391809
Chaumette, S.: Failure is the nominal operation mode for swarms (of drones): reasons and consequences. In: Conference on Complex Systems, CCS 2016. Satellite Session - Swarming Systems: Analysis, Modeling & Design, Amsterdam, Netherlands, September 2016. https://hal.archives-ouvertes.fr/hal-01391810
Chaumette, S., Laplace, R., Mazel, C., Godin, A.: Secure cooperative ad hoc applications within UAV fleets - position paper. In: 28th IEEE Military Communications Conference, MILCOM 2009, Boston, United States, October, pp. 1–7 (2009). https://hal.archives-ouvertes.fr/hal-00406478
Department of Defense, Washington: Office of the Secretary of Defense: Unmanned aerial vehicle roadmap 2000–2025 (2001)
Hoebeke, J., Moerman, I., Dhoedt, B., Demeester, P.: Analysis of decentralized resource and service discovery mechanisms in wireless multi-hop networks. In: Braun, T., Carle, G., Koucheryavy, Y., Tsaoussidis, V. (eds.) WWIC 2005. LNCS, vol. 3510, pp. 181–191. Springer, Heidelberg (2005). https://doi.org/10.1007/11424505_18
Hidalgo-Carrió, J., Hennes, D., Schwendner, J., Kirchner, F.: Gaussian process estimation of odometry errors for localization and mapping. In: IEEE International Conference on Robotics and Automation, pp. 5696–5701 (2017)
Jazar, R.: Vehicle Dynamics: Theory and Application, pp. 960–988. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-53441-1
Kaehler, A., Bradski, G.: Learning OpenCV 3: Computer Vision in C++ with the OpenCV Library. O’Reilly Media, Inc., Sebastopol (2016)
Lintrami, T.: Unity 2017 Game Development Essentials, pp. 649–672. Packt Publishing, Birmingham (2018)
Quigley, M.: Programming Robots with ROS: A Practical Introduction to the Robot Operating System, pp. 421–432. O’Reilly Media, Sebastopol (2016)
Ravikiran, G., Singh, S.: Influence of mobility models on the performance of routing protocols in ad-hoc wireless networks. In: IEEE 59th Vehicular Technology Conference (VTC), May, vol. 4, pp. 2185–2189 (2004)
Su, J., Guo, W.: A survey of service discovery protocols for mobile ad hoc networks. In: International Conference on Communications, Circuits and Systems, ICCCAS, May, pp. 398–404 (2008)
Wang, R., Wang, J.: Fault diagnosis for four-wheel independently driven electric ground vehicles. IEEE Trans. Veh. Technol. 60(9), 4276–4287 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Anquetil, R., Autefage, V., Chaumette, S., Pouteau, S. (2019). GreenSword: Green Space Cleaning Using an Autonomous Swarm of Heterogeneous Drones - First Retex. In: Hilt, B., Berbineau, M., Vinel, A., Jonsson, M., Pirovano, A. (eds) Communication Technologies for Vehicles. Nets4Cars/Nets4Trains/Nets4Aircraft 2019. Lecture Notes in Computer Science(), vol 11461. Springer, Cham. https://doi.org/10.1007/978-3-030-25529-9_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-25529-9_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-25528-2
Online ISBN: 978-3-030-25529-9
eBook Packages: Computer ScienceComputer Science (R0)