Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00221382" target="_blank" >RIV/68407700:21230/14:00221382 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907374" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907374</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA.2014.6907374" target="_blank" >10.1109/ICRA.2014.6907374</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization

Popis výsledku v původním jazyce

A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robotteams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold?s BOID model proposed for 2D simulations of schooling behaviour of fish. The idea of the simple BOID model, with three simple rules: Separation, Alignmentand Cohesion, is extended for swarms of quadrotors in this paper. The proposed solution integrates the swarming behaviour with the relative localization and with a stabilization and control mechanism, which respects fast dynamics of unmanned quadrotors.The proposed method aspires to be an enabling technique for deployment of swarms of micro aerial vehicles outside laboratories that are equipped with precise positioning systems. The swarming behaviour as well as the possibility of swarm

Název v anglickém jazyce

Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization

Popis výsledku anglicky

A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robotteams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold?s BOID model proposed for 2D simulations of schooling behaviour of fish. The idea of the simple BOID model, with three simple rules: Separation, Alignmentand Cohesion, is extended for swarms of quadrotors in this paper. The proposed solution integrates the swarming behaviour with the relative localization and with a stabilization and control mechanism, which respects fast dynamics of unmanned quadrotors.The proposed method aspires to be an enabling technique for deployment of swarms of micro aerial vehicles outside laboratories that are equipped with precise positioning systems. The swarming behaviour as well as the possibility of swarm

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2014

Kód důvěrnosti údajů

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

Název statě ve sborníku

ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation

ISBN

978-1-4799-3684-7

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

3570-3575

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Hong Kong

Datum konání akce

31. 5. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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