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A Collaborative Team of UAV-Hexapod for an Autonomous Retrieval System in GNSS-Denied Maritime Environments

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arxiv 2410.09606 v1 pith:LRDRQMYQ submitted 2024-10-12 cs.RO

Seungwook Lee , Maulana Bisyir Azhari , Gyuree Kang , Ozan Günes , Donghun Han , David Hyunchul Shim This is my paper · ORCID
classification cs.RO
keywords maritimesystemautonomousenvironmentsgnss-deniedlocalizationretrievaluav-hexapod
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We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mechanism installed on a UAV. This system is intended to address the challenges of localization, control, and mobility in dynamic maritime environments. Our solution leverages sensor fusion techniques, combining optical flow, LiDAR, and depth data for precise localization. Experimental results demonstrate the effectiveness of this system in real-world scenarios, validating its performance during field tests in both controlled and operational conditions in the MBZIRC 2023 Maritime Challenge.

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