%0 Conference Proceedings
%T On the Design of a Robotic System Composed of an Unmanned Surface Vehicle and a Piggybacked VTOL
%+ Universidade de Lisboa = University of Lisbon (ULISBOA)
%+ Instituto de Desenvolvimento de Novas Tecnologias [Caparica] (UNINOVA)
%+ Instituto Universitário de Lisboa (ISCTE-IUL)
%+ Instituto de Telecomunicações [Lisboa, Portugal]
%A Pinto, Eduardo
%A Santana, Pedro
%A Marques, Francisco
%A Mendonça, Ricardo
%A Lourenço, André
%A Barata, José
%Z Part 8: Robotics and Mechatronics
%< avec comité de lecture
%( IFIP Advances in Information and Communication Technology
%B 5th Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS)
%C Costa de Caparica, Portugal
%Y Luis M. Camarinha-Matos
%Y Nuno S. Barrento
%Y Ricardo Mendonça
%I Springer
%3 Technological Innovation for Collective Awareness Systems
%V AICT-423
%P 193-200
%8 2014-04-07
%D 2014
%R 10.1007/978-3-642-54734-8_22
%K cooperative robots
%K unmanned aerial vehicles
%K UAV
%K autonomous surface vehicles
%K ASV
%K environmental monitoring
%K riverine environments
%Z Computer Science [cs]Conference papers
%X This paper presents the core ideas of the RIVERWATCH experiment and describes its hardware architecture. The RIVERWATCH experiment considers the use of autonomous surface vehicles piggybacking multi-rotor unmanned aerial vehicles for the automatic monitoring of riverine environments. While the surface vehicle benefits from the aerial vehicle to extend its field of view, the aerial vehicle benefits from the surface vehicle to ensure long-range mobility. This symbiotic relation between both robots is expected to enhance the robustness and long lasting of the ensemble. The hardware architecture includes a considerable set of state-of-the-art sensory modalities and it is abstracted from the perception and navigation algorithms by using the Robotics Operating System (ROS). A set of field trials shows the ability of the prototype to scan a closed water body. The datasets obtained from the field trials are freely available to the robotics community.
%G English
%Z TC 5
%Z WG 5.5
%2 https://inria.hal.science/hal-01274771/document
%2 https://inria.hal.science/hal-01274771/file/978-3-642-54734-8_22_Chapter.pdf
%L hal-01274771
%U https://inria.hal.science/hal-01274771
%~ IFIP
%~ IFIP-AICT
%~ IFIP-TC
%~ IFIP-TC5
%~ IFIP-AICT-423
%~ IFIP-WG
%~ IFIP-WG5-5