An algorithm for autonomous deployment of groups of Micro Aerial Vehicles (MAVs) in the cooperative surveillance task is presented in this paper. The algorithm enables to find a proper distributions of all MAVs in surveillance locations together with feasible and collision free trajectories from their initial position. The solution of the MAV-group deployment satisfies motion constraints of MAVs, environment constraints (non-fly zones) and constraints imposed by a visual onboard relative localization. The onboard relative localization, which is used for stabilization of the group flying in a compact formation, acts as an enabling technique for utilization of MAVs in situations where an external local system is not available or lacks the sufficient precision.


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    Titel :

    Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance


    Beteiligte:
    Saska, Martin (Autor:in) / Chudoba, Jan (Autor:in) / Precil, Libor (Autor:in) / Thomas, Justin (Autor:in) / Loianno, Giuseppe (Autor:in) / Tresnak, Adam (Autor:in) / Vonasek, Vojtech (Autor:in) / Kumar, Vijay (Autor:in)


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    2426960 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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