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.
Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance
2014-05-01
2426960 byte
Conference paper
Electronic Resource
English
COOPERATIVE CONTROL OF SWARMS OF UNMANNED AERIAL VEHICLES
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