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Book Sections Year : 2020

Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging

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Ide-Flore Kenmogne
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  • PersonId : 995945
Vincent Drevelle
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  • PersonId : 995946
Eric Marchand

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.
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Dates and versions

hal-02550895 , version 1 (22-04-2020)

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Ide-Flore Kenmogne, Vincent Drevelle, Eric Marchand. Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging. Decision Making under Constraints, Studies in Systems, Decision and Control, 276, Springer, pp.133-138, 2020, ⟨10.1007/978-3-030-40814-5_16⟩. ⟨hal-02550895⟩
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