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Memorias de investigación
Ponencias en congresos:
Visual Quadrotor Swarm for the IMAV 2013 Indoor Competition
Año:2013
Áreas de investigación
  • Visión por computador
Datos
Descripción
This paper presents a low-cost framework for visual quadrotor swarm prototyping which will be utilized to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition. The testbed facilitates the swarm design problem by utilizing a cost-efficient quadrotor platform, the Parrot AR Drone 2.0; by using markers to simplify the visual localization problem, and by broadcoasting the estimated location of the swarm members to obviate the partner dectection problem. The development team can then focus their attention on the design of a succesful swarming behaviour for the problem at hand. ArUco Codes [2] are used to sense and map obstacles and to improve the pose estimation based on the IMU data and optical flow by means of an Extended Kalman Filter localization and mapping method. A free-collision trajectory for each drone is generated by using a combination of well-known trajectory planning algorithms: probabilistic road maps, the potential field map algorithm and the A-Star algorithm. The control loop of each drone of the swarm is closed by a robust mid-level controller. A very modular design for integration within the Robot Operating System (ROS) [13] is proposed.
Internacional
Si
Nombre congreso
Robot 2013: First Iberian Robotics Conference (ROBOT 2013).
Tipo de participación
960
Lugar del congreso
Madrid (Spain)
Revisores
Si
ISBN o ISSN
978-3-319-03652-6
DOI
10.1007/978-3-319-03653-3_5
Fecha inicio congreso
28/11/2013
Fecha fin congreso
29/11/2013
Desde la página
56
Hasta la página
63
Título de las actas
Visual Quadrotor Swarm for the IMAV 2013 Indoor Competition
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Jose Luis Sanchez Lopez (UPM)
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Paloma De La Puente (Vienna University of Technology)
  • Autor: Adrian Carrio (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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