System for deployment of groups of unmanned micro

Authors: Martin Saska Tomas Baca Justin Thomas Jan Chudoba Libor Preucil Tomas Krajnik Jan Faigl Giuseppe Loianno Vijay Kumar

Publish Date: 2016/04/29

Volume: 41, Issue: 4, Pages: 919-944

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Abstract

A complex system for control of swarms of micro aerial vehicles MAV in literature also called as unmanned aerial vehicles UAV or unmanned aerial systems UAS stabilized via an onboard visual relative localization is described in this paper The main purpose of this work is to verify the possibility of selfstabilization of multiMAV groups without an external global positioning system This approach enables the deployment of MAV swarms outside laboratory conditions and it may be considered an enabling technique for utilizing fleets of MAVs in realworld scenarios The proposed visualbased stabilization approach has been designed for numerous different multiUAV robotic applications leaderfollower UAV formation stabilization UAV swarm stabilization and deployment in surveillance scenarios cooperative UAV sensory measurement in this paper Deployment of the system in realworld scenarios truthfully verifies its operational constraints given by limited onboard sensing suites and processing capabilities The performance of the presented approach MAV control motion planning MAV stabilization and trajectory planning in multiMAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments eg in windy conditions and in a former pit mineThis work has been supported by the Ministry of Education of the Czech Republic under project no LH11053 and the experimental works required for paper revisions by Project No HS 13167/830/8301616C000 founded by Khalifa University for the MBZIRC competition both projects supporting the joint research of the Czech Technical University in Prague and the University of Pennsylvania In addition Martin Saska has been supported by the Grant Agency of the Czech Republic under postdoc Grant No P10312/P756 The work of Jan Faigl has been also partially supported by the Czech Science Foundations GACR under the research Project No 1318316P Tomas Krajnik has been supported by the EU project STRANDS ICT600623 Tomas Baca has been supported by CTU grant no SGS15/157/OHK3/2T/13 Final experiments done by Martin Saska for revisions of the paper have been supported by the Czech Science Foundations GACR under the research Project No 1624206S

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