Reference : A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro ...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Aerospace & aeronautics engineering
	To cite this reference:	http://hdl.handle.net/10993/45810

Title :	A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition
Language :	English
Author, co-author :	Pestana, Jesus []
	Sanchez Lopez, Jose Luis [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
	de la Puente, Paloma []
	Carrio, Adrian []
	Campoy, Pascual []
Publication date :	May-2014
Main document title :	2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Pages :	617-622
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Event date :	from 27-05-2014 to 30-05-2014
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/45810
DOI :	10.1109/ICUAS.2014.6842305

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