Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00360912" target="_blank" >RIV/68407700:21230/22:00360912 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS47612.2022.9981894" target="_blank" >https://doi.org/10.1109/IROS47612.2022.9981894</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS47612.2022.9981894" target="_blank" >10.1109/IROS47612.2022.9981894</a>

Result language
angličtina
Original language name
Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements
Original language description
Within the field of multi-robot systems, developing systems that rely only on onboard sensing without the use of external infrastructure (e.g. GNSS) has many potential applications. However, relying only on visual-based modalities for localization presents challenges in terms of accuracy and reliability. We introduce a decentralized multi-robot lateral velocity estimation method for Unmanned Aerial Vehicles (UAVs) to improve onboard measurements in case GNSS infrastructure is not available. This method relies on sharing the onboard measurements of neighbors, as well as the estimation of the relative motion of a focal UAV within the swarm, based on observation of coworking robots. The proposed velocity estimation method does not rely on centralized communication to achieve high reliability and scalability within the swarm system. The performance of the state estimation approach has been verified in simulations and real-world experiments. The results have shown that a swarm of UAVs using the proposed velocity estimator can stabilize individual robots when their primary onboard localization source is not reliable enough.
Czech name
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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
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Intelligent Robots and Systems (IROS), 2022 IEEE/RSJ International Conference on
ISBN
978-1-6654-7927-1
ISSN
2153-0866
e-ISSN
2153-0858
Number of pages
8
Pages from-to
11570-11577
Publisher name
IEEE
Place of publication
Piscataway
Event location
Kyoto
Event date
Oct 23, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000909405303058

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