Stabilization of MAV and MAV-UGV Swarms Based on a Visual Relative Localization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00212938" target="_blank" >RIV/68407700:21230/13:00212938 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Stabilization of MAV and MAV-UGV Swarms Based on a Visual Relative Localization
Original language description
The aim of this talk is to discuss stabilization, control and motion planning techniques for steering swarms of unmanned Micro Aerial Vehicles (MAVs) and heterogeneous teams of Unmanned Ground Vehicles (UGVs) acting together with MAVs. The presented methods based on a visual relative localization of swarm particles are all designed for utilization of multi-robot teams in real-world dynamic environments without any need for global localization or motion capture systems. This approach aspire to be an enabling technique for deployment of swarms of micro aerial vehicles outside laboratories that are equipped with infrastructure for robots? precise positioning. Beside basic technical details on the employed image processing system, bio-inspired swarming approaches and model predictive control based formation driving techniques with vision feedback will be introduced in the presentation. The presented swarm behavior is inspired by Reynold's BOID model with its three simple rules: Separation,
Czech name
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Czech description
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Project
<a href="/en/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilization of ?-UAV swarms under decentralized relative localization.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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