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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    Title :

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


    Contributors:


    Publication date :

    2014-05-01


    Size :

    2426960 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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