UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331006" target="_blank" >RIV/68407700:21230/19:00331006 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2019.2901683" target="_blank" >https://doi.org/10.1109/LRA.2019.2901683</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2019.2901683" target="_blank" >10.1109/LRA.2019.2901683</a>

Result language
angličtina
Original language name
UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs
Original language description
A novel onboard relative localization method, based on ultraviolet light, used for real-time control of a leader-follower formation of multirotor UAVs is presented in this paper. A new smart sensor, UVDAR, is employed in an innovative way, which does not require communication and is extremely reliable in real-world conditions. This innovative sensing system exploits UV spectrum and provides relative position and yaw measurements independently of environment conditions such as changing illumination and presence of undesirable light sources and their reflections. The proposed approach exploits this retrieved information to steer the follower to a given 3D position and orientation relative to the leader, which may be considered as the main building block of any multi-UAV system operating with small mutual distances among team-members. The proposed solution was verified in demanding outdoor conditions, validating usage of UVDAR in real flight scenario and paving the way for further usage of UVDAR for practical multi-UAV formation deployments.
Czech name
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Czech description
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Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

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
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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