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A system for the design and development of vision-based multi-robot quadrotor swarms
Sanchez Lopez, Jose Luis; Pestana, Jesus; de la Puente, Paloma et al.
2014In 2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Peer reviewed
 

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Abstract :
[en] This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Sanchez Lopez, Jose Luis  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Pestana, Jesus
de la Puente, Paloma
Suarez-Fernandez, Ramon
Campoy, Pascual
External co-authors :
yes
Language :
English
Title :
A system for the design and development of vision-based multi-robot quadrotor swarms
Publication date :
May 2014
Event name :
2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Event date :
from 27-05-2014 to 30-05-2014
Audience :
International
Main work title :
2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Pages :
640-648
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 22 January 2021

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