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A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition
Citation
Pestana Puerta, Jesús, Sanchez Lopez, Jose Luis, Puente Yusty, Paloma de la 
ORCID: https://orcid.org/0000-0002-8652-0300, Carrió Fernández, Adrián and Campoy Cervera, Pascual ORCID: https://orcid.org/0000-0002-9894-2009
(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: |
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| 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 |
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
Type
Code
Acronym
Leader
Title
Government of Spain
DPI2010-20751-C02-01
Unspecified
Unspecified
Unspecified
More information
| Item ID: | 45796 |
|---|---|
| DC Identifier: | https://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 |
