无人机与六足机器人协同，实现无卫星信号环境下的自主部署与回收。
A Collaborative Team of UAV-Hexapod for an Autonomous Retrieval System in GNSS-Denied Maritime Environments
- 无人机通过绞车投放六足机器人，完成海上自主作业。
- 融合视觉、激光与深度数据，实现在复杂海况下精准定位。
- 已在MBZIRC 2023赛事中验证，适用于高动态海洋任务。
我们提出一种集成的无人机-六足机器人系统，专为无卫星导航（GNSS）的海上环境设计，可通过安装在无人机上的绞车机制实现六足机器人的自主部署与回收。该系统旨在应对动态海洋环境中定位、控制与移动的挑战。方案采用多传感器融合技术，结合光学流、激光雷达（LiDAR）和深度信息，实现高精度定位。实验结果表明，该系统在真实场景中表现良好，已在MBZIRC 2023海事挑战赛的受控与实际操作条件下完成测试验证。
原文摘要 · Abstract (English)
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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