| HAL-Inria | Publications, software ... of Inria's scientists |
Book sections
Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging
Abstract : This paper addresses the problem of cooperative localization in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to tracks landmarks, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot first computes a pose domain using only its sensors measurements, by using set inversion via interval analysis [1]. Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results are presented with real robot data, and show position accuracy improvement thanks to cooperation.
Cited literature [8 references]
https://hal.inria.fr/hal-02550895
Contributor : Eric Marchand <>
Submitted on : Wednesday, April 22, 2020 - 3:43:13 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:56 PM
Contributor : Eric Marchand <>
Submitted on : Wednesday, April 22, 2020 - 3:43:13 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:56 PM
File
2020-dmc_kenmogne.pdf
Files produced by the author(s)