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

Sanchez Lopez, Jose Luis and Pestana Puerta, Jesús and Puente Yusty, Paloma de la and Suárez Fernández, Ramón and Campoy Cervera, Pascual (2014). A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms. In: "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.

Description

Title: A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms
Author/s:
  • Sanchez Lopez, Jose Luis
  • Pestana Puerta, Jesús
  • Puente Yusty, Paloma de la
  • Suárez Fernández, Ramón
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2014 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: May 27-30, 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

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010-20751-C02-01UnspecifiedUnspecifiedUnspecified

More information

Item ID: 45797
DC Identifier: http://oa.upm.es/45797/
OAI Identifier: oai:oa.upm.es:45797
DOI: 10.1109/ICUAS.2014.6842308
Official URL: http://www.uasconferences.com/
Deposited by: Memoria Investigacion
Deposited on: 10 May 2017 12:03
Last Modified: 16 Oct 2017 15:18
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