Cooperative localization of drones by using interval methods

Kenmogne, Ide-Flore and Drevelle, Vincent and Marchand, Eric: Cooperative localization of drones by using interval methods. In: Acta cybernetica, (24) 3. pp. 557-572. (2020)

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Abstract

In this article we address the problem of cooperative pose estimation in a group of unmanned aerial vehicles (UAVs) in a bounded-error context. The UAVs are equipped with cameras to track landmarks, and with a communication and ranging system to cooperate with their neighbors. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Pose domains subpavings are obtained by using set inversion via interval analysis. Each robot of the group first computes a pose domain using only its sensors measurements. Then, through position boxes exchanges, the positions are cooperatively refined by constraint propagation in the group. Results with real robot data are presented, and show that the position accuracy is improved thanks to cooperation.

Item Type: Article
Heading title: Interval methods in control and robotics
Journal or Publication Title: Acta cybernetica
Date: 2020
Volume: 24
Number: 3
ISSN: 0324-721X
Page Range: pp. 557-572
Publisher: University of Szeged, Institute of Informatics
Place of Publication: Szeged
Event Title: Summer Workshop on Interval Methods (11.) (2018) (Rostock)
Related URLs: http://acta.bibl.u-szeged.hu/69263/
DOI: https://doi.org/10.14232/actacyb.24.3.2020.15
Uncontrolled Keywords: Számítástechnika, Kibernetika, Vezérléstechnika, Robotika
Additional Information: Bibliogr.: p. 569-572. ; összefoglalás angol nyelven
Subjects: 01. Natural sciences
01. Natural sciences > 01.02. Computer and information sciences
Date Deposited: 2020. Jul. 30. 13:29
Last Modified: 2020. Jul. 30. 13:29
URI: http://acta.bibl.u-szeged.hu/id/eprint/69273

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