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

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. 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. I. INTRODUCTION Unmanned Aerial Vehicles (UAVs) have become an essential component of modern robotics, widely used in various applications, including surveillance, inspection, search and Figure 1: UAV-Hexapod system executing its mission in a rescue, and transportation. Their ability to fly over challenging GNSS-denied maritime environment. Team KAIST won 2nd terrains and access remote areas has expanded the place in the MBZIRC 2023 Maritime Challenge.