A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms

Sanchez Lopez, Jose Luis; Pestana Puerta, Jesús; Puente Yusty, Paloma de La; Suárez Fernández, Ramón y Campoy Cervera, Pascual (2014). A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms. En: "2014 International Conference on Unmanned Aircraft Systems (ICUAS)", May 27-30, 2014, Orlando, Florida, USA. ISBN 9781479923762. pp. 640-648. https://doi.org/10.1109/ICUAS.2014.6842308.

Descripción

Título: A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms
Autor/es:
  • Sanchez Lopez, Jose Luis
  • Pestana Puerta, Jesús
  • Puente Yusty, Paloma de La
  • Suárez Fernández, Ramón
  • Campoy Cervera, Pascual
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Fechas del Evento: May 27-30, 2014
Lugar del Evento: Orlando, Florida, USA
Título del Libro: 2014 International Conference on Unmanned Aircraft Systems (ICUAS). Conference proceedings
Fecha: Junio 2014
ISBN: 9781479923762
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Proyectos asociados

TipoCódigoAcrónimoResponsableTítulo
Gobierno de EspañaDPI2010-20751-C02-01Sin especificarSin especificarSin especificar

Más información

ID de Registro: 45797
Identificador DC: http://oa.upm.es/45797/
Identificador OAI: oai:oa.upm.es:45797
Identificador DOI: 10.1109/ICUAS.2014.6842308
URL Oficial: http://www.uasconferences.com/
Depositado por: Memoria Investigacion
Depositado el: 10 May 2017 12:03
Ultima Modificación: 10 May 2017 12:20
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