Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00351029" target="_blank" >RIV/68407700:21230/21:00351029 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA48506.2021.9561284" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9561284</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9561284" target="_blank" >10.1109/ICRA48506.2021.9561284</a>

Result language
angličtina
Original language name
Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density
Original language description
The compact flocking of relatively localized Un- manned Aerial Vehicles (UAVs) in high obstacle density areas is discussed in this paper. The presented work tackles realistic scenarios in which the environment map is not known apriori and the use of a global localization system and communication infrastructure is difficult due to the presence of obstacles. To achieve flocking in such a constrained environment, we propose a fully decentralized, bio-inspired control law that uses only onboard sensor data for safe flocking through the environment without any communication with other agents. In the proposed approach, each UAV agent uses onboard sensors to self-localize and estimate the relative position of other agents in its local reference frame. The usability and performance of the proposed approach were verified and evaluated using various experiments in a realistic robotic simulator and a natural forest. The pre- sented experiments also validate the utility of onboard relative localization for autonomous multi-UAV applications in the ab- sence of global localization information and communication.
Czech name
—
Czech description
—

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
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-9077-8
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
570-576
Publisher name
IEEE Xplore
Place of publication
—
Event location
Xi’an
Event date
May 30, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000765738800049

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