Bio-inspired visual relative localization for large swarms of UAVs
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00373576" target="_blank" >RIV/68407700:21230/24:00373576 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA57147.2024.10610100" target="_blank" >https://doi.org/10.1109/ICRA57147.2024.10610100</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA57147.2024.10610100" target="_blank" >10.1109/ICRA57147.2024.10610100</a>
Alternative languages
Result language
angličtina
Original language name
Bio-inspired visual relative localization for large swarms of UAVs
Original language description
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized yet coherent manner, our method does not rely on detecting individual neighbors by each agent and estimating their relative position, but rather we propose to regress a neighbor density over distance. This allows for a more accurate distance estimation as well as better scalability with respect to the number of neighbors. Additionally, a novel swarm control algorithm is proposed to make it compatible with the new relative localization method. We provide a thorough evaluation of the presented methods and demonstrate that the regressing approach to distance estimation is more robust to varying relative pose of the targets and that it is suitable to be used as the main source of relative localization for swarm stabilization.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
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)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE International Conference on Robotics and Automation (ICRA)
ISBN
979-8-3503-8457-4
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
11825-11831
Publisher name
IEEE Industrial Electronic Society
Place of publication
Vienna
Event location
Yokohama
Event date
May 13, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001369728002056