Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00360912" target="_blank" >RIV/68407700:21230/22:00360912 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/IROS47612.2022.9981894" target="_blank" >https://doi.org/10.1109/IROS47612.2022.9981894</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS47612.2022.9981894" target="_blank" >10.1109/IROS47612.2022.9981894</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements

Popis výsledku v původním jazyce

Within the field of multi-robot systems, developing systems that rely only on onboard sensing without the use of external infrastructure (e.g. GNSS) has many potential applications. However, relying only on visual-based modalities for localization presents challenges in terms of accuracy and reliability. We introduce a decentralized multi-robot lateral velocity estimation method for Unmanned Aerial Vehicles (UAVs) to improve onboard measurements in case GNSS infrastructure is not available. This method relies on sharing the onboard measurements of neighbors, as well as the estimation of the relative motion of a focal UAV within the swarm, based on observation of coworking robots. The proposed velocity estimation method does not rely on centralized communication to achieve high reliability and scalability within the swarm system. The performance of the state estimation approach has been verified in simulations and real-world experiments. The results have shown that a swarm of UAVs using the proposed velocity estimator can stabilize individual robots when their primary onboard localization source is not reliable enough.

Název v anglickém jazyce

Decentralized Multi-robot Velocity Estimation for UAVs Enhancing Onboard Camera-based Velocity Measurements

Popis výsledku anglicky

Within the field of multi-robot systems, developing systems that rely only on onboard sensing without the use of external infrastructure (e.g. GNSS) has many potential applications. However, relying only on visual-based modalities for localization presents challenges in terms of accuracy and reliability. We introduce a decentralized multi-robot lateral velocity estimation method for Unmanned Aerial Vehicles (UAVs) to improve onboard measurements in case GNSS infrastructure is not available. This method relies on sharing the onboard measurements of neighbors, as well as the estimation of the relative motion of a focal UAV within the swarm, based on observation of coworking robots. The proposed velocity estimation method does not rely on centralized communication to achieve high reliability and scalability within the swarm system. The performance of the state estimation approach has been verified in simulations and real-world experiments. The results have shown that a swarm of UAVs using the proposed velocity estimator can stabilize individual robots when their primary onboard localization source is not reliable enough.

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

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

Intelligent Robots and Systems (IROS), 2022 IEEE/RSJ International Conference on

ISBN

978-1-6654-7927-1

ISSN

2153-0866

e-ISSN

2153-0858

Počet stran výsledku

8

Strana od-do

11570-11577

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Kyoto

Datum konání akce

23. 10. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000909405303058