Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
CoRR(2024)
摘要
One common and desirable application of robots is exploring potentially
hazardous and unstructured environments. Air-ground collaboration offers a
synergistic approach to addressing such exploration challenges. In this paper,
we demonstrate a system for large-scale exploration using a team of aerial and
ground robots. Our system uses semantics as lingua franca, and relies on fully
opportunistic communications. We highlight the unique challenges from this
approach, explain our system architecture and showcase lessons learned during
our experiments. All our code is open-source, encouraging researchers to use it
and build upon.
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