Swarming of Unmanned Aerial Vehicles by Sharing Distributed Observations of Workspace

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00360911" target="_blank" >RIV/68407700:21230/22:00360911 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS54217.2022.9836073" target="_blank" >https://doi.org/10.1109/ICUAS54217.2022.9836073</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS54217.2022.9836073" target="_blank" >10.1109/ICUAS54217.2022.9836073</a>

Result language
angličtina
Original language name
Swarming of Unmanned Aerial Vehicles by Sharing Distributed Observations of Workspace
Original language description
A control and relative localization approach for a swarm of unmanned aerial vehicles (UAVs) flying in a forest environment is proposed in this paper. To achieve robust mutual relative localization of agents in such an obstacle-rich environment, we propose a decentralized localization approach based on a comparison of the workspace observation by on-board sensors of cooperating UAVs. We propose sharing sparse local obstacle maps to estimate bearing and distance between swarm members by fitting spacialy and time-distributed scans. Moreover, we propose fully decentralized flocking control rules adapted for deployment in such demanding conditions of real forests. The proposed approach was verified in the realistic Gazebo simulator, as well as in outdoor experiments. The approach introduced in this paper was also compared with a state-of-the-art method for relative localization and navigation of a swarm through a forest.
Czech name
—
Czech description
—

Project
<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-1-6654-0593-5
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
10
Pages from-to
300-309
Publisher name
IEEE Industrial Electronics Society
Place of publication
Piscataway
Event location
Dubrovnik
Event date
Jun 21, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000854030400036

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