System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00300945" target="_blank" >RIV/68407700:21230/17:00300945 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/17:00300945

Result on the web

<a href="http://link.springer.com/article/10.1007/s10514-016-9567-z" target="_blank" >http://link.springer.com/article/10.1007/s10514-016-9567-z</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10514-016-9567-z" target="_blank" >10.1007/s10514-016-9567-z</a>

Result language

angličtina

Original language name

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Original language description

A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenar- ios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAVswarmstabilizationanddeploymentinsurveillancesce- narios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine).

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Volume of the periodical

41

Issue of the periodical within the volume

4

Country of publishing house

US - UNITED STATES

Number of pages

26

Pages from-to

919-944

UT code for WoS article

000396870000008

EID of the result in the Scopus database

2-s2.0-84964440084