Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353588" target="_blank" >RIV/68407700:21230/21:00353588 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICUAS51884.2021.9476794" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476794</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476794" target="_blank" >10.1109/ICUAS51884.2021.9476794</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments

Popis výsledku v původním jazyce

—A decentralized algorithm for flocking of Unmanned Aerial Vehicles (UAV) in environments with high obstacle density is proposed in this work. The method combines a local planning loop with bio-inspired swarming rules for navigating a compact UAV flock in a real workspace without relying on external infrastructures, such as motion capture system and GNSS. The group stability and coherence are achieved by employing a purposely designed onboard UVDAR system for mutual localization of teammates in local proximity of each UAV. The required robustness and scalability of the multi-UAV system are therefore achieved without any need for communication among the swarm particle. Such minimal sensory and communication requirements have allowed the system to become a backup technique for centralized multirobot systems in case of communication and GNSS dropout. The proposed approach has been verified in numerous simulations and real experiments inside a forest that represents one of the most challenging environments for deployment of compact groups of aerial vehicles.

Název v anglickém jazyce

Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments

Popis výsledku anglicky

—A decentralized algorithm for flocking of Unmanned Aerial Vehicles (UAV) in environments with high obstacle density is proposed in this work. The method combines a local planning loop with bio-inspired swarming rules for navigating a compact UAV flock in a real workspace without relying on external infrastructures, such as motion capture system and GNSS. The group stability and coherence are achieved by employing a purposely designed onboard UVDAR system for mutual localization of teammates in local proximity of each UAV. The required robustness and scalability of the multi-UAV system are therefore achieved without any need for communication among the swarm particle. Such minimal sensory and communication requirements have allowed the system to become a backup technique for centralized multirobot systems in case of communication and GNSS dropout. The proposed approach has been verified in numerous simulations and real experiments inside a forest that represents one of the most challenging environments for deployment of compact groups of aerial vehicles.

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

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-0-7381-3115-3

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

9

Strana od-do

1391-1399

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Athens

Datum konání akce

15. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—