An integrated UGV-UAV system for construction site data collection

• 1 Introduction
• 2 Background
• • 2.1 SLAM
  • 2.2 Semantic segmentation
  • 2.3 UAV-UGV collaborative systems
  • 2.4 Proposed system
• 3 Hardware description
• • 3.1 UGV
  • 3.2 UAV
  • • 3.2.1 Localization system
    • 3.2.2 Motor control system
    • 3.2.3 Power supply regulation system
• 4 System architecture
• • 4.1 Context-Awareness Module
  • 4.2 UGV SLAM Module
  • 4.3 Blimp Localization and Tracking Module
  • • 4.3.1 Blimp localization using a marker
    • 4.3.2 Blimp localization using Vins-Mono SLAM algorithm
  • 4.4 Control Planning Module
  • • 4.4.1 UGV autonomous navigation
    • 4.4.2 UAV autonomous navigation
• 5 Experimental setup and results
• • 5.1 Hardware utilization
  • • 5.1.1 Context-Awareness Module
    • 5.1.2 UGV and UAV SLAM modules
  • 5.2 UAV autonomous navigation's validation
• 6 Conclusion and future work

1 Introduction

2 Background

2.1 SLAM

2.2 Semantic segmentation

2.3 UAV-UGV collaborative systems

2.4 Proposed system

3 Hardware description

3.1 UGV

3.2 UAV

3.2.1 Localization system

3.2.2 Motor control system

3.2.3 Power supply regulation system

4 System architecture

4.1 Context-Awareness Module

4.2 UGV SLAM Module

4.3 Blimp Localization and Tracking Module

4.3.1 Blimp localization using a marker

4.3.2 Blimp localization using Vins-Mono SLAM algorithm

4.4 Control Planning Module

4.4.1 UGV autonomous navigation

4.4.2 UAV autonomous navigation

5 Experimental setup and results

5.1 Hardware utilization

5.1.1 Context-Awareness Module

5.1.2 UGV and UAV SLAM modules

5.2 UAV autonomous navigation’s validation

6 Conclusion and future work