Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00226686" target="_blank" >RIV/68407700:21230/14:00226686 - 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
Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles
Original language description
A cooperative odor plume tracking approach designed for use with groups of micro-scale, autonomous helicopters in GNSS-denied environment is proposed in this paper. The designed method is based on a particle swarm optimization enhanced for efficient andfast cooperative searching for gas sources. The possibility of MAVs deployment in GNSS denied environment is enabled by employed visual relative localization using onboard monocular cameras and identification patterns. In addition to constraints given bythe relative localization (necessity of direct visibility and limited range of the system), MAV motion constraints and non-colliding multi-robot coordination are satisfied in the method. The developed method has been verified using a numerical model ofsmoke plume in various simulations and real experiments with a fleet of MAVs.
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
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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