MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235945" target="_blank" >RIV/68407700:21230/15:00235945 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7152376&tag=1" target="_blank" >http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7152376&tag=1</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS.2015.7152376" target="_blank" >10.1109/ICUAS.2015.7152376</a>

Jazyk výsledku

angličtina

Název v původním jazyce

MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization

Popis výsledku v původním jazyce

A novel approach for stabilization and navigation of swarms of Micro Aerial Vehicles (MAVs) along a predefined path through a complex environment with obstacles is introduced in this paper. The method enables to control large MAV swarms (in literature also called UAV swarms) based only on onboard sensors and without any inter-vehicle communication. The proposed method relies on visual localization modules carried by all MAVs, which provide estimation of the relative positions of neighbours in the swarm.Guess on the positions of the neighbouring MAVs and information on the relative positions of obstacles are integrated into swarm stabilization via Reynolds? Boids model. The performance of the complex system is shown in various numerical simulations andin experiments with a fleet of MAVs in the paper. Presented experimental results with the multi-MAV swarm were conducted in indoor and outdoor environment, and without using any external global localization system such as Vicon motion ca

Název v anglickém jazyce

MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization

Popis výsledku anglicky

A novel approach for stabilization and navigation of swarms of Micro Aerial Vehicles (MAVs) along a predefined path through a complex environment with obstacles is introduced in this paper. The method enables to control large MAV swarms (in literature also called UAV swarms) based only on onboard sensors and without any inter-vehicle communication. The proposed method relies on visual localization modules carried by all MAVs, which provide estimation of the relative positions of neighbours in the swarm.Guess on the positions of the neighbouring MAVs and information on the relative positions of obstacles are integrated into swarm stabilization via Reynolds? Boids model. The performance of the complex system is shown in various numerical simulations andin experiments with a fleet of MAVs in the paper. Presented experimental results with the multi-MAV swarm were conducted in indoor and outdoor environment, and without using any external global localization system such as Vicon motion ca

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

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

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of 2015 International Conference on Unmanned Aircraft Systems

ISBN

9781479960101

ISSN

—

e-ISSN

—

Počet stran výsledku

10

Strana od-do

894-903

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Piscataway

Místo konání akce

Denver

Datum konání akce

9. 6. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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