Cooperative Localization of Drones by using Interval Methods
  • Metaadatok
Tartalom: https://cyber.bibl.u-szeged.hu/index.php/actcybern/article/view/4059
Archívum: Acta Cybernetica
Gyűjtemény: Interval Methods in Control and Robotics
Cím:
Cooperative Localization of Drones by using Interval Methods
Létrehozó:
Kenmogne, Ide Flore
Drevelle, Vincent
Marchand, Eric
Kiadó:
University of Szeged, Institute of Informatics
Dátum:
2020-03-19
Téma:
cooperative localization
intervals
vision
constraint propagation
Tartalmi leírás:
In this article we address the problem of cooperative pose estimation in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to track landmarks positions, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot of the group first computes a pose domain using only its sensors measurements using set inversion via interval analysis. Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results with real robot data are presented, and show that the position accuracy is improvedthanks to cooperation.
Nyelv:
angol
Típus:
info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Formátum:
application/pdf
Azonosító:
10.14232/actacyb.24.3.2020.15
Forrás:
Acta Cybernetica; Vol 24 No 3 (2020): Special Issue of the 11th Summer Workshop on Interval Methods; 557-572
2676-993X
0324-721X
Kapcsolat: