NDLI: Environment-independent formation flight for micro aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Nageli, T. Conte, C. Domahidi, A. Morari, M. Hilliges, O.
Copyright Year	2014
Description	Author affiliation: Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland (Conte, C.; Morari, M.) \|\| Dept. of Comput. Sci., ETH Zurich, Zurich, Switzerland (Nageli, T.; Hilliges, O.) \|\| Inspire AG, Zurich, Switzerland (Domahidi, A.)
Abstract	Some aerial tasks are achieved more efficiently and at a lower cost by a group of independently controlled micro aerial vehicles (MAVs) when compared to a single, more sophisticated robot. Controlling formation flight can be cast as a two-level problem: stabilization of relative distances of agents (formation shape control) and control of the center of gravity of the formation. To date, accurate shape control of a formation of MAVs usually relies on external tracking devices (e.g. fixed cameras) or signals (e.g. GPS) and uses centralized control, which severely limits its deployment. In this paper, we present an environment-independent approach for relative MAV formation flight, using a distributed control algorithm which relies only on embedded sensing and agentto- agent communication. In particular, an on-board monocular camera is used to acquire relative distance measurements in combination with a consensus-based distributed Kalman filter. We evaluate our methods in- and outdoors with a formation of three MAVs while controlling the formation's center of gravity manually.
Starting Page	1141
Ending Page	1146
File Size	5076696
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942701
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bismuth Vectors Cameras Gravity Robot sensing systems Kalman filters Global Positioning System
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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