A Collaborative Team of UAV-Hexapod for an Autonomous Retrieval System in GNSS-Denied Maritime Environments

2024/10/12 by Seung-Wook Lee, Lee, Seungwook, Muhammad Fikri Azhari +9
Engineering · #FOS: Computer and information sciences #Robotics (cs.RO) #Underwater Vehicles and Communication Systems

paper · pdf · doi:10.48550/arxiv.2410.09606

openalex publication_date 2024/10/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

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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