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Using Constraint Propagation for Cooperative UAV Localization from Vision and Ranging

Ide-Flore Kenmogne 1 Vincent Drevelle 1 Eric Marchand 1
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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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https://hal.inria.fr/hal-02550895
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Submitted on : Wednesday, April 22, 2020 - 3:43:13 PM
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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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