2024-10-08T12:49:16 n119239

Real life testing and simulation data for UAV navigation and target detection under challenging conditions

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This dataset was obtained after experiments in which a small drone needed to autonomously explore an indoor environment in search of a target. The mathematical framework used in this research allowed us to model decision-making under uncertainty. The mission was modelled following a classic Search and Rescue operation, where the agent needed to explore a cluttered environment in low visibility and with no GPS. The target used was a heated mannequin, and its position was unknown to the drone. The sensor used for target detection was a thermal camera.  

The dataset consists of simulation results, where smoke was used as a visual obscurant, and real-life testing results, where low light was used as a low visibility condition. It contains CSV files with the output of the decision-making algorithm (observations, actions...), and rosbags with the drone position, occupancy map of the environment, beliefs states, and odometry.

Geographical area of data collection

text
Queensland University of Technology (QUT) Garden Point campus, in the O block flying area (O1304), 2 George St, Brisbane City, QLD, 4000
kmlPolyCoords
153.027734,-27.477484

Publications

Boiteau, S., Vanegas, F., and Gonzalez, F. (2024). Framework for autonomous UAV navigation and target detection in global-navigation-satellite-system-denied and visually degraded environments. Remote Sensing. 16(3): 471 http://dx.doi.org/https://doi.org/10.3390/rs16030471

Research areas

Decision-Making under uncertainty
Unmanned Aerial Vehicle (UAV)
Robotics
Search and Rescue

Cite this collection

Boiteau, Sebastien; Vanegas, Fernando; Gonzalez, Felipe; (2024): Dataset from: Framework for Autonomous UAV Navigation and Target Detection in Global-Navigation-Satellite-System-Denied and Visually Degraded Environments (Version 1). Queensland University of Technology. (Dataset) https://doi.org/10.25912/RDF_1728355750197

Data file types

CSV (.csv), Rosbags (.bag)

Licence


Creative Commons Attribution 4.0 (CC-BY)
http://creativecommons.org/licenses/by/4.0/

Copyright

© Sebastien Boiteau, 2024.

Dates of data collection

From 2023-07-26 to 2023-09-04

Connections

Has association with
Felipe Gonzalez  (Researcher)
Fernando Vanegas  (Researcher)

Other

Date record created:
2024-02-01T11:53:25
Date record modified:
2024-10-08T12:49:16
Record status:
Published - Open Access