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The ANSER Project: Data Fusion Across Multiple Uninhabited Air Vehicles

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia, salah{at}acfr.usyd.edu.au

Eric Nettleton

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia

Jong-Hyuk Kim

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia

Matthew Ridley

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia

Ali Goktogan

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia

Hugh Durrant-Whyte

Australian Centre for Field Robotics The Rose Street Building J04 The University of Sydney 2006 NSW Australia

The objective of the autonomous navigation and sensing experiment research (ANSER) project is to demonstrate decentralized data fusion (DDF) and simultaneous localization and map building (SLAM) across multiple uninhabited air vehicles (UAVs). To achieve this objective, the project specifies the development of four UAVs, where each UAV houses up to two terrain sensors and an INS/GPS navigation system. The terrain sensors include a scanning radar, laser/vision and standard vision system. The DDF concept has to be shown to be effective both on a single UAV and on multiple UAVs. The proof of the concept will lie in the ability of the DDF structure to conduct multi-target tracking problems as well as SLAM. To obtain this goal, a number of subgoals are required, most of which have never been attempted before on a research level. The objective of this paper is to present these goals as an overview of the ANSER project along with some simulated and real-time results.

Key Words: decentralized data fusion • tracking • localization • mapping • SLAM • UAV • INS/GPS

The International Journal of Robotics Research, Vol. 22, No. 7-8, 505-539 (2003)
DOI: 10.1177/02783649030227005


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