System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00300945" target="_blank" >RIV/68407700:21230/17:00300945 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/17:00300945

Výsledek na webu

<a href="http://link.springer.com/article/10.1007/s10514-016-9567-z" target="_blank" >http://link.springer.com/article/10.1007/s10514-016-9567-z</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10514-016-9567-z" target="_blank" >10.1007/s10514-016-9567-z</a>

Jazyk výsledku

angličtina

Název v původním jazyce

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Popis výsledku v původním jazyce

A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenar- ios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAVswarmstabilizationanddeploymentinsurveillancesce- narios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine).

Název v anglickém jazyce

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Popis výsledku anglicky

A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenar- ios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAVswarmstabilizationanddeploymentinsurveillancesce- narios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine).

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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

2017

Kód důvěrnosti údajů

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

Název periodika

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Svazek periodika

41

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

26

Strana od-do

919-944

Kód UT WoS článku

000396870000008

EID výsledku v databázi Scopus

2-s2.0-84964440084