A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

Pestana Puerta, Jesús and Sanchez Lopez, Jose Luis and Puente Yusty, Paloma de la and Carrió Fernández, Adrián and Campoy Cervera, Pascual (2014). A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition. In: "2014 International Conference on Unmanned Aircraft Systems (ICUAS)", 27-30 May 2014, Orlando, Florida, USA. ISBN 9781479923762. pp. 617-622. https://doi.org/10.1109/ICUAS.2014.6842305.

Description

Title: A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition
Author/s:
  • Pestana Puerta, Jesús
  • Sanchez Lopez, Jose Luis
  • Puente Yusty, Paloma de la
  • Carrió Fernández, Adrián
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: 27-30 May 2014
Event Location: Orlando, Florida, USA
Title of Book: 2014 International Conference on Unmanned Aircraft Systems (ICUAS). Conference Proceedings.
Date: June 2014
ISBN: 9781479923762
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (925kB) | Preview

Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-01UnspecifiedUnspecifiedUnspecified

More information

Item ID: 45796
DC Identifier: http://oa.upm.es/45796/
OAI Identifier: oai:oa.upm.es:45796
DOI: 10.1109/ICUAS.2014.6842305
Official URL: http://www.uasconferences.com/
Deposited by: Memoria Investigacion
Deposited on: 10 May 2017 09:10
Last Modified: 16 Oct 2017 15:19
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM