Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00351029" target="_blank" >RIV/68407700:21230/21:00351029 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICRA48506.2021.9561284" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9561284</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9561284" target="_blank" >10.1109/ICRA48506.2021.9561284</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density

Popis výsledku v původním jazyce

The compact flocking of relatively localized Un- manned Aerial Vehicles (UAVs) in high obstacle density areas is discussed in this paper. The presented work tackles realistic scenarios in which the environment map is not known apriori and the use of a global localization system and communication infrastructure is difficult due to the presence of obstacles. To achieve flocking in such a constrained environment, we propose a fully decentralized, bio-inspired control law that uses only onboard sensor data for safe flocking through the environment without any communication with other agents. In the proposed approach, each UAV agent uses onboard sensors to self-localize and estimate the relative position of other agents in its local reference frame. The usability and performance of the proposed approach were verified and evaluated using various experiments in a realistic robotic simulator and a natural forest. The pre- sented experiments also validate the utility of onboard relative localization for autonomous multi-UAV applications in the ab- sence of global localization information and communication.

Název v anglickém jazyce

Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density

Popis výsledku anglicky

The compact flocking of relatively localized Un- manned Aerial Vehicles (UAVs) in high obstacle density areas is discussed in this paper. The presented work tackles realistic scenarios in which the environment map is not known apriori and the use of a global localization system and communication infrastructure is difficult due to the presence of obstacles. To achieve flocking in such a constrained environment, we propose a fully decentralized, bio-inspired control law that uses only onboard sensor data for safe flocking through the environment without any communication with other agents. In the proposed approach, each UAV agent uses onboard sensors to self-localize and estimate the relative position of other agents in its local reference frame. The usability and performance of the proposed approach were verified and evaluated using various experiments in a realistic robotic simulator and a natural forest. The pre- sented experiments also validate the utility of onboard relative localization for autonomous multi-UAV applications in the ab- sence of global localization information and communication.

Druh

D - Stať ve sborníku

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

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-9077-8

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

570-576

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Xi’an

Datum konání akce

30. 5. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000765738800049