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Supplementary Material for IROS 2024 Submission

A Heterogeneous System of Systems Framework for Proactive Path Planning of a UAV-assisted UGV in Uncertain Environments

Authors: Patrick Sherman & Nicola Bezzo

Submitted to IROS 2024:​

Lab Experiments:

Experiment 1: U-shape obstacle

UGV Alone

Proposed Strategy

Experiment 2: h-shape obstacle

UGV Alone

Proposed Strategy

Experiment 3: hazard in environment

UGV Alone

Proposed Strategy

Selected Simulations:

Simulation Case 1

UGV Alone

Proposed Strategy

Ideal

Simulation Case 2

UGV Alone

Proposed Strategy

Ideal

Simulation Case 3

UGV Alone

Proposed Strategy

Ideal

Click for access to raw simulation videos for all 20 simuations :
link

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