An Event-Based Tracking Control Framework for Multirotor Aerial Vehicles Using a Dynamic Vision Sensor and Neuromorphic Hardware

Sotirios N. Aspragkathos, Evangelos Ntouros, George C. Karras, B. Linares-Barranco, T. Serrano-Gotarredona, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present an event-based control framework for the efficient tracking of contour-based areas, such as road pavements, using a multirotor aerial vehicle equipped with a bio-inspired Dynamic Vision Sensor (DVS). Concerning the detection part, the DVS camera captures events, which are asynchronously fed into a Neuromorphic Hough Transform algorithm running on a SpiNN-3 board and implemented as a Spiking Neural Network (SNN). Next, the asynchronous output of the detection module is fed into an analytically formulated event-based Partitioned Visual Servoing (PVS) algorithm, running on conventional processing hardware, which allows the multirotor to autonomously track and navigate along the detected contour. The proposed architecture achieves efficient tracking of contour-based areas, while constantly maintaining the latter inside the DVS camera's field of view. A set of real-time experiments in various settings employing an octorotor equipped with a downward-looking DVS and a SpiNN-3 board demonstrate the effectiveness of the suggested framework.

Original languageEnglish (US)
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6349-6355
Number of pages7
ISBN (Electronic)9781665491907
DOIs
StatePublished - 2023
Event2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States
Duration: Oct 1 2023Oct 5 2023

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/TerritoryUnited States
CityDetroit
Period10/1/2310/5/23

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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