A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition

Pestana Puerta, Jesús and Sánchez López, José Luis and Puente Yusty, Paloma de la and Carrio Fernández, Adrián and Campoy Cervera, Pascual (2015). A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition. "Journal of Intelligent and Robotic Systems" ; pp. 1-20. ISSN 0921-0296. https://doi.org/10.1007/s10846-015-0304-1.

Description

Title: A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition
Author/s:
  • Pestana Puerta, Jesús
  • Sánchez López, José Luis
  • Puente Yusty, Paloma de la
  • Carrio Fernández, Adrián
  • Campoy Cervera, Pascual
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Date: 28 November 2015
ISSN: 0921-0296
Subjects:
Freetext Keywords: Aerial robotics, Distributed robot systems, Multi-robot coordination, Visual navigation, Quadrotor, Obstacle avoidance, Mobile robots, Remotely operated vehicles, MAV
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: Computer Vision Group, Centre for Automation and Robotics
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no centralized coordination whose robotic agents share their position estimates. The capability of each agent to navigate avoiding collisions is a consequence of the resulting emergent behavior. Each agent consists of a ground station running an instance of the proposed architecture that communicates over WiFi with an AR Drone 2.0 quadrotor. Visual markers are employed to sense and map obstacles and to improve the pose estimation based on Inertial Measurement Unit (IMU) and ground optical flow data. Based on our architecture, each robotic agent can navigate avoiding obstacles and other members of the multi-robot system. The solution is demonstrated and the achieved navigation performance is evaluated by means of experimental flights. This work also analyzes the capabilities of the presented solution in simulated flights of the IMAV 2013 Indoor Challenge. The performance of the CVG UPM team was awarded with the First Prize in the Indoor Autonomy Challenge of the IMAV 2013 competition.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-01UnspecifiedUnspecifiedUnspecified
Government of SpainDPI2014-60139-RUnspecifiedUnspecifiedUnspecified

More information

Item ID: 41459
DC Identifier: http://oa.upm.es/41459/
OAI Identifier: oai:oa.upm.es:41459
DOI: 10.1007/s10846-015-0304-1
Official URL: http://link.springer.com/article/10.1007%2Fs10846-015-0304-1
Deposited by: Memoria Investigacion
Deposited on: 16 Jun 2016 16:09
Last Modified: 28 Nov 2017 23:30
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