Stabilization of MAV and MAV-UGV Swarms Based on a Visual Relative Localization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00212938" target="_blank" >RIV/68407700:21230/13:00212938 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Stabilization of MAV and MAV-UGV Swarms Based on a Visual Relative Localization

Popis výsledku v původním jazyce

The aim of this talk is to discuss stabilization, control and motion planning techniques for steering swarms of unmanned Micro Aerial Vehicles (MAVs) and heterogeneous teams of Unmanned Ground Vehicles (UGVs) acting together with MAVs. The presented methods based on a visual relative localization of swarm particles are all designed for utilization of multi-robot teams in real-world dynamic environments without any need for global localization or motion capture systems. This approach aspire to be an enabling technique for deployment of swarms of micro aerial vehicles outside laboratories that are equipped with infrastructure for robots? precise positioning. Beside basic technical details on the employed image processing system, bio-inspired swarming approaches and model predictive control based formation driving techniques with vision feedback will be introduced in the presentation. The presented swarm behavior is inspired by Reynold's BOID model with its three simple rules: Separation,

Název v anglickém jazyce

Stabilization of MAV and MAV-UGV Swarms Based on a Visual Relative Localization

Popis výsledku anglicky

The aim of this talk is to discuss stabilization, control and motion planning techniques for steering swarms of unmanned Micro Aerial Vehicles (MAVs) and heterogeneous teams of Unmanned Ground Vehicles (UGVs) acting together with MAVs. The presented methods based on a visual relative localization of swarm particles are all designed for utilization of multi-robot teams in real-world dynamic environments without any need for global localization or motion capture systems. This approach aspire to be an enabling technique for deployment of swarms of micro aerial vehicles outside laboratories that are equipped with infrastructure for robots? precise positioning. Beside basic technical details on the employed image processing system, bio-inspired swarming approaches and model predictive control based formation driving techniques with vision feedback will be introduced in the presentation. The presented swarm behavior is inspired by Reynold's BOID model with its three simple rules: Separation,

Druh

O - Ostatní výsledky

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilizace rojů bezpilotních helikoptér používajících decentralizovanou relativní lokalizaci.</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

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