论文标题
RMF-OWL：自动地下探索的耐碰撞飞行机器人
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration
论文作者
论文摘要
这项工作介绍了RMF-OWL的设计，硬件实现，自主探索和对象检测功能，RMF-OWL是一种新的耐受耐碰撞的空中机器人，该机器人量身定制，该机器人量身定制，该机器人量身定制。该系统是定制的，用于地下探索，重点是碰撞耐受性，具有强大的本地化和映射的弹性自主权，以及在受限，充满障碍和拓扑的地下环境中的高性能探索路径计划。此外，RMF-OWL提供了搜索，检测和定位感兴趣的对象的能力，这些对象在搜索和救援任务中特别有用。提出了一系列实验的结果，以证明该系统自主探索挑战的未知地下环境的能力。
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system's ability to autonomously explore challenging unknown underground environments.
