Predicting Digging Success for Unmanned Aircraft System Sensor Emplacement

被引：0

作者：

Plowcha, Adam ^{[1
]}

Sun, Yue ^{[2
]}

Detweiler, Carrick ^{[1
]}

Bradley, Justin ^{[1
]}

机构：

[1] Univ Nebraska, Comp Sci & Engn Dept, Lincoln, NE 68588 USA

[2] Univ Nebraska, Mech Engn Dept, Lincoln, NE USA

来源：

PROCEEDINGS OF THE 2018 INTERNATIONAL SYMPOSIUM ON EXPERIMENTAL ROBOTICS | 2020年 / 11卷

关键词：

Sensor emplacement; UAS; Field robotics; Markov Decision Process;

D O I：

10.1007/978-3-030-33950-0_14

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We have developed an autonomous, digging, Unmanned Aircraft System (UAS) for sensor emplacement. A key challenge is quickly determining whether or not a particular digging activity will lead to successful emplacement, thereby allowing the system to potentially try another location. We have designed a first-of-its-kind decision-making algorithm using a Markov Decision Process to autonomously monitor the activity of a digging UAS activity to quickly decide if success is likely. Further, we demonstrate through many experimental trials that our method outperforms other decision-making methods with an overall success rate of 82.5%.

引用

页码：153 / 164

页数：12

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