相关论文: Cooperative Navigation Using Pairwise Communicatio…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…

This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…

Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…

In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…

Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…

A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…

The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…

Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…

For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…

The collaborative visual perception of multiple Unmanned Aerial Vehicles (UAVs) has increasingly become a research hotspot. Compared to a single UAV equipped with a short-baseline stereo camera, multi-UAV collaborative vision offers a wide…

This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…

In this paper, we consider the problem of multi-unmanned aerial vehicles' scheduling for cooperative jamming, where UAVs equipped with directional antennas perform collaborative jamming tasks against several targets of interest. To ensure…