Collaborating Low Cost Micro Aerial Vehicles: A Demonstration

(2015) Collaborating Low Cost Micro Aerial Vehicles: A Demonstration. Towards Autonomous Robotic Systems - 16th Annual Conference, 9287. pp. 296-302. ISSN 0302-9743

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Abstract

In this paper we demonstrate our Distributed Collaborative Tracking and Mapping (DCTAM) system for collaborative localisation and mapping with teams of Micro-Aerial Vehicle's MAVs. DCTAM uses a distributed architecture which allows us to run both image capture and frame-to-frame tracking on-board the MAV while offloading the more computationally demanding tasks of map creation/refinement to an off-board computer. The low computational cost of the localisation components of our system allow us to run additional software on-board such as an Extended Kalman Filter (EKF) for full state estimation and a PID-based Position Controller. This allows us to demonstrate complete cooperative autonomous operation.

Item Type:	Article
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Depositing User:	Symplectic Admin
Date Deposited:	31 Mar 2016 10:03
Last Modified:	31 Oct 2018 10:16
DOI:	10.1007/978-3-319-22416-9_33
URI:	http://livrepository.liverpool.ac.uk/id/eprint/2022441

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