Experiments in Quadrotor Formation Flying Using On-Board Relative Localization

Ioannis Rekleitis, Philippe Babin, Andrew DePriest, Sourav Das, Olivier Falardeau, Olivier Dugas, Philippe Giguere
In Vision-based Control and Navigation of Small, Lightweight UAVs Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015.

Abstract

Abstract: Formation flying of aerial robots has many appli- cations, such as surveillance, coordinated transport of heavy objects, convoying, and others. Current research on formation control often relies on the use of an external motion capture equipment to track the pose of each individual robot. In order to deploy multiple Unmanned Aerial Vehicles (UAVs) to arbitrary environments, an alternative to motion capture or differential GPS is needed. In this paper, we show a proof of concept of a bearing-only relative localization approach in the context of maintaining flying formations, by recovering the 6 Degree of Freedom (DoF) relative pose between a pair of flying vehicles. This relative pose, estimated from a pair of images from mutually observing robots, is directly used to guide a follower quadrotor to keep a fixed position with respect to a leader. Experimental results from indoor and outdoor flying of two off-the-shelf quadrotors (Parrot AR.Drone 2.0) are presented.

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BibTeX

@inproceedings{RekleitisIROSWork2015,
  author       = {Ioannis Rekleitis and Philippe Babin and Andrew DePriest
		 and Sourav Das and Olivier Falardeau and Olivier Dugas and
		 Philippe Giguere},
  title        = {Experiments in Quadrotor Formation Flying Using On-Board
		 Relative Localization},
  booktitle    = {Vision-based Control and Navigation of Small, Lightweight
		 UAVs Workshop, IEEE/RSJ International Conference on
		 Intelligent Robots and Systems},
  year	       = {2015},
  month        = {Oct.},
  address      = {Hamburg, Germany}
}

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