NDLI: System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Content Provider	Springer Nature Link
Author	Saska, Martin Baca, Tomas Thomas, Justin Chudoba, Jan Preucil, Libor Krajnik, Tomas Faigl, Jan Loian, Giuseppe Kumar, Vijay
Copyright Year	2016
Abstract	A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenarios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAV swarm stabilization and deployment in surveillance scenarios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine).
Starting Page	919
Ending Page	944
Page Count	26
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	41
Issue Number	4
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2016-04-29
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Micro aerial vehicles (MAVs) Unmanned aerial vehicles (UAVs) Formations Swarms Visual relative localization Stabilization Control Trajectory planning Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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