Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353588" target="_blank" >RIV/68407700:21230/21:00353588 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS51884.2021.9476794" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476794</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476794" target="_blank" >10.1109/ICUAS51884.2021.9476794</a>

Result language
angličtina
Original language name
Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments
Original language description
—A decentralized algorithm for flocking of Unmanned Aerial Vehicles (UAV) in environments with high obstacle density is proposed in this work. The method combines a local planning loop with bio-inspired swarming rules for navigating a compact UAV flock in a real workspace without relying on external infrastructures, such as motion capture system and GNSS. The group stability and coherence are achieved by employing a purposely designed onboard UVDAR system for mutual localization of teammates in local proximity of each UAV. The required robustness and scalability of the multi-UAV system are therefore achieved without any need for communication among the swarm particle. Such minimal sensory and communication requirements have allowed the system to become a backup technique for centralized multirobot systems in case of communication and GNSS dropout. The proposed approach has been verified in numerous simulations and real experiments inside a forest that represents one of the most challenging environments for deployment of compact groups of aerial vehicles.
Czech name
—
Czech description
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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
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-0-7381-3115-3
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
9
Pages from-to
1391-1399
Publisher name
IEEE Xplore
Place of publication
—
Event location
Athens
Event date
Jun 15, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

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