Paper Info
Title
Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints.
Abstract
In this work, we present a novel vision-based solution for operating a vehicle under Gaussian Distribution Temporal Logic (GDTL) constraints without global positioning infrastructure. We first present the mapping component that builds a high-resolution map of the environment by flying a team of two aerial vehicles in formation with sensor information provided by their onboard cameras. The control policy for the ground robot is synthesized under temporal and uncertainty constraints given the semantically labeled map. Finally, the ground robot executes the control policy given pose estimates from a dedicated aerial robot that tracks and localizes the ground robot. The proposed method is validated using a two-wheeled ground robot and a quadrotor with a camera for ten successful experimental trials.
Year
DOI
Venue
2016
10.1007/978-3-319-50115-4_46
Springer Proceedings in Advanced Robotics
Keywords
Field
DocType
Vision-based localization,Temporal logic planning,Air-ground localization,Heterogeneous robot systems
Computer vision,Robot control,Control engineering,Gaussian,Artificial intelligence,Global Positioning System,Temporal logic,Engineering,Robot,Mobile robot
Conference
Volume
ISSN
Citations 
1
2511-1256
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Eric Cristofalo1233.40
Kevin Leahy2235.29
Cristian Ioan Vasile311215.61
Eduardo Montijano421422.27
Mac Schwager593072.33
Calin Belta62197153.54