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

Pestana Puerta, Jesús; Sánchez López, José Luis; Puente Yusty, Paloma de la; Carrio Fernández, Adrián y 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.

Descripción

Título: A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition
Autor/es:
  • Pestana Puerta, Jesús
  • Sánchez López, José Luis
  • Puente Yusty, Paloma de la
  • Carrio Fernández, Adrián
  • Campoy Cervera, Pascual
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Fecha: 28 Noviembre 2015
Materias:
Palabras Clave Informales: Aerial robotics, Distributed robot systems, Multi-robot coordination, Visual navigation, Quadrotor, Obstacle avoidance, Mobile robots, Remotely operated vehicles, MAV
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Grupo Investigación UPM: Computer Vision Group, Centre for Automation and Robotics
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Proyectos asociados

TipoCódigoAcrónimoResponsableTítulo
Gobierno de EspañaDPI2010-20751-C02-01Sin especificarSin especificarSin especificar
Gobierno de EspañaDPI2014-60139-RSin especificarSin especificarSin especificar

Más información

ID de Registro: 41459
Identificador DC: http://oa.upm.es/41459/
Identificador OAI: oai:oa.upm.es:41459
Identificador DOI: 10.1007/s10846-015-0304-1
URL Oficial: http://link.springer.com/article/10.1007%2Fs10846-015-0304-1
Depositado por: Memoria Investigacion
Depositado el: 16 Jun 2016 16:09
Ultima Modificación: 28 Nov 2017 23:30
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