论文标题
MBZIRC 2020年的UGV-UAV团队的自主墙建筑物
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
论文作者
论文摘要
使用机器人构建大型结构是一项艰巨的任务，其中许多潜在的应用需要移动操纵功能。我们为2020年的Mohamed Bin Zayed International Robotics Challenge开发了两个自动隔墙建筑系统。这两个系统都自主地感知其环境，找到砖块并建造预定义的墙壁结构。虽然UGV使用基于3D激光痛的感知系统，该系统以高精度测量砖块，但UAV采用了基于实时的摄像头系统进行视觉伺服系统。我们报告了我们成功参与MBZIRC 2020决赛，其他实验实验的结果和见解，并讨论了从竞争中学到的经验教训。
Constructing large structures with robots is a challenging task with many potential applications that requires mobile manipulation capabilities. We present two systems for autonomous wall building that we developed for the Mohamed Bin Zayed International Robotics Challenge 2020. Both systems autonomously perceive their environment, find bricks, and build a predefined wall structure. While the UGV uses a 3D LiDAR-based perception system which measures brick poses with high precision, the UAV employs a real-time camera-based system for visual servoing. We report results and insights from our successful participation at the MBZIRC 2020 Finals, additional lab experiments, and discuss the lessons learned from the competition.
