Reference : A vision-based quadrotor multi-robot solution for the indoor autonomy challenge of th...
Scientific journals : Article
Engineering, computing & technology : Computer science
A vision-based quadrotor multi-robot solution for the indoor autonomy challenge of the 2013 international micro air vehicle competition
Pestana, Jesus []
Sanchez Lopez, Jose Luis mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
De La Puente, Paloma []
Carrio, Adrian []
Campoy, Pascual []
Journal of Intelligent and Robotic Systems
Kluwer Academic Publishers
Yes (verified by ORBilu)
[en] Aerial Robotics ; Distributed Robot Systems ; Multi-Robot Coordination ; Visual Navigation ; Quadrotor ; Obstacle Avoidance ; Mobile Robots ; Remotely Operated Vehicles ; MAV
[en] This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition ({IMAV2013}). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an {AR Drone 2.0} quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to improve the pose estimation based on the IMU and optical data flow by means of an Extended Kalman Filter localization and mapping method. The presented solution and the performance of the CVG\_UPM team were awarded with the First Prize in the Indoors Autonomy Challenge of the {IMAV2013} competition.

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