Name
Title | ||
|---|---|---|
A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition |
Abstract | ||
|---|---|---|
This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no centralized coordination whose robotic agents share their position estimates. The capability of each agent to navigate avoiding collisions is a consequence of the resulting emergent behavior. Each agent consists of a ground station running an instance of the proposed architecture that communicates over WiFi with an AR Drone 2.0 quadrotor. Visual markers are employed to sense and map obstacles and to improve the pose estimation based on Inertial Measurement Unit (IMU) and ground optical flow data. Based on our architecture, each robotic agent can navigate avoiding obstacles and other members of the multi-robot system. The solution is demonstrated and the achieved navigation performance is evaluated by means of experimental flights. This work also analyzes the capabilities of the presented solution in simulated flights of the IMAV 2013 Indoor Challenge. The performance of the CVG_UPM team was awarded with the First Prize in the Indoor Autonomy Challenge of the IMAV 2013 competition. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/s10846-015-0304-1 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Aerial robotics, Distributed robot systems, Multi-robot coordination, Visual navigation, Quadrotor, Obstacle avoidance, Mobile robots, Remotely operated vehicles, MAV | Obstacle avoidance,Remotely operated underwater vehicle,Control engineering,Pose,Inertial measurement unit,Drone,Engineering,Robot,Micro air vehicle,Mobile robot | Journal |
Volume | Issue | ISSN |
84 | 1-4 | 1573-0409 |
Citations | PageRank | References |
5 | 0.48 | 30 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jesus Pestana | 1 | 64 | 5.41 |
| Jose Luis Sanchez-Lopez | 2 | 105 | 10.32 |
| Paloma de la Puente | 3 | 69 | 9.93 |
| Adrian Carrio | 4 | 56 | 6.72 |
| Pascual Campoy | 5 | 436 | 46.75 |