Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00322009" target="_blank" >RIV/68407700:21230/18:00322009 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8453331/" target="_blank" >https://ieeexplore.ieee.org/document/8453331/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS.2018.8453331" target="_blank" >10.1109/ICUAS.2018.8453331</a>
Alternative languages
Result language
angličtina
Original language name
Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers
Original language description
This paper proposes a new methodology for outdoor mutual relative localization of UAVs equipped with active ultraviolet markers and a suitable camera with specialized bandpass filters. Mutual relative localization is a crucial tool for formation preservation, swarming and cooperative task completion in scenarios in which UAVs share working space in small relative distances. In most current systems of compact UAV swarms the localization of particular UAVs is based on the data obtained from motion capture systems for indoor experiments or on precise RTK-GNSS data outdoor. Such an external infrastructure is unavailable in most of real multi-UAV applications and often cannot be pre-installed. To account for such situations, as well as to make the system more autonomous, reliance on onboard sensors only is desirable. In the proposed approach, we rely on ultraviolet LED markers, that emit light in frequencies that are less common in nature than the visible light or infrared radiation, especially in high intensities. Additionally, common camera sensors are sensitive to ultraviolet light, making the addition of a filter the only necessary modification, keeping the platform low-cost, which is one of the key requirements on swarm systems. This also allows for a smaller size of the markers to be sufficient, without burdening the processing resources. Thus the proposed system aspires to be an enabling technology for deployment of large swarms of possibly micro-scale aerial vehicles in real-world conditions and without any dependency on an external infrastructure.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2018 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-1-5386-1353-5
ISSN
2575-7296
e-ISSN
—
Number of pages
10
Pages from-to
1217-1226
Publisher name
IEEE
Place of publication
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Event location
Dallas, TX
Event date
Jun 11, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000454860700150