外观
论文arXiv 2609.288871 个月前
飞行、驾驶、重构：面向野外作业的模块化可重构空地平台
原文链接：Fly, Drive, Reconfigure: A Modular Reconfigurable Aerial-Ground Platform for Field Operations（arXiv 2609.28887 · 发布日期：2026-09-24）
Fly, Drive, Reconfigure: A Modular Reconfigurable Aerial-Ground Platform for Field Operations
HARP通过可独立部署的空中机器人模块自主重构能力，并在野外实验和格陵兰冰盖模块测试中验证。
核心要点
- 异构机器人团队能力互补，但任务中物理角色和承载能力通常固定。
- HARP含侦察、飞行驾驶车体与任务载荷模块，可组合空地作业能力。
- 侦察模块建图并支持能量感知规划，联合选择路线与空地移动模式。
- 野外实验覆盖感知、规划、重构、空地移动、载荷运输与任务执行。
验证范围与局限：验证范围包括野外实验以及格陵兰冰盖上的模块级部署测试。
英文摘要 (Abstract)
Heterogeneous robot teams distribute complementary capabilities across specialized agents, but their physical roles and capacities typically remain fixed throughout a mission. We present HARP, a Heterogeneous Aerial Robotic modules Platform in which independently deployable aerial robots physically reconfigure to compose their capabilities for field operations. HARP comprises sensor-equipped scouts, flydrive rover modules, and task-specific payload modules. Scouts map the environment and inform an energy-aware planner that jointly selects routes and air-ground mobility modes. Rover and payload modules fly independently across terrain that constrains ground travel, then autonomously assemble into a cooperative ground vehicle for energy-efficient payload transport. Motivated by environmental sampling in remote and difficult-to-traverse regions, we evaluate HARP through field experiments spanning sensing, planning, reconfiguration, airground mobility, payload transport, and task execution. We further conduct module-level deployment tests on the Greenland Ice Sheet toward future autonomous missions. HARP demonstrates how heterogeneous robot teams can adapt not only their actions, but also how their physical capabilities are composed during a mission.
作者：Li-Yu Lo, Yanbaihui Liu, Chengchuan Shu, Tyler Harris, Jonathan Ryan, Boyuan Chen
来源
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