UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331006" target="_blank" >RIV/68407700:21230/19:00331006 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2019.2901683" target="_blank" >https://doi.org/10.1109/LRA.2019.2901683</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2901683" target="_blank" >10.1109/LRA.2019.2901683</a>

Jazyk výsledku

angličtina

Název v původním jazyce

UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

Popis výsledku v původním jazyce

A novel onboard relative localization method, based on ultraviolet light, used for real-time control of a leader-follower formation of multirotor UAVs is presented in this paper. A new smart sensor, UVDAR, is employed in an innovative way, which does not require communication and is extremely reliable in real-world conditions. This innovative sensing system exploits UV spectrum and provides relative position and yaw measurements independently of environment conditions such as changing illumination and presence of undesirable light sources and their reflections. The proposed approach exploits this retrieved information to steer the follower to a given 3D position and orientation relative to the leader, which may be considered as the main building block of any multi-UAV system operating with small mutual distances among team-members. The proposed solution was verified in demanding outdoor conditions, validating usage of UVDAR in real flight scenario and paving the way for further usage of UVDAR for practical multi-UAV formation deployments.

Název v anglickém jazyce

UVDAR System for Visual Relative Localization with application to Leader-Follower Formations of Multirotor UAVs

Popis výsledku anglicky

A novel onboard relative localization method, based on ultraviolet light, used for real-time control of a leader-follower formation of multirotor UAVs is presented in this paper. A new smart sensor, UVDAR, is employed in an innovative way, which does not require communication and is extremely reliable in real-world conditions. This innovative sensing system exploits UV spectrum and provides relative position and yaw measurements independently of environment conditions such as changing illumination and presence of undesirable light sources and their reflections. The proposed approach exploits this retrieved information to steer the follower to a given 3D position and orientation relative to the leader, which may be considered as the main building block of any multi-UAV system operating with small mutual distances among team-members. The proposed solution was verified in demanding outdoor conditions, validating usage of UVDAR in real flight scenario and paving the way for further usage of UVDAR for practical multi-UAV formation deployments.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

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

2019

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

4

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

2637-2644

Kód UT WoS článku

000467571900002

EID výsledku v databázi Scopus

2-s2.0-85065616264