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

Martin Saska; Jan Chudoba; Libor Precil; Justin Thomas; Giuseppe Loianno; Adam Tresnak; Vojtech Vonasek; Vijay Kumar

doi:10.1109/ICUAS.2014.6842301

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

Martin Saska, Jan Chudoba, Libor Precil, Justin Thomas, Giuseppe Loianno, Adam Tresnak, Vojtech Vonasek, Vijay Kumar

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Publisher	IEEE Computer Society
Pages	584-595
Number of pages	12
ISBN (Print)	9781479923762
DOIs	https://doi.org/10.1109/ICUAS.2014.6842301
State	Published - 2014
Event	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States Duration: May 27 2014 → May 30 2014

Publication series

Name	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Country/Territory	United States
City	Orlando, FL
Period	5/27/14 → 5/30/14

ASJC Scopus subject areas

Aerospace Engineering

Access to Document

10.1109/ICUAS.2014.6842301

Cite this

Saska, M., Chudoba, J., Precil, L., Thomas, J., Loianno, G., Tresnak, A., Vonasek, V., & Kumar, V. (2014). Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. In 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings (pp. 584-595). Article 6842301 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ICUAS.2014.6842301

Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. / Saska, Martin; Chudoba, Jan; Precil, Libor et al.
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society, 2014. p. 584-595 6842301 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Saska, M, Chudoba, J, Precil, L, Thomas, J, Loianno, G, Tresnak, A, Vonasek, V & Kumar, V 2014, Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. in 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings., 6842301, 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings, IEEE Computer Society, pp. 584-595, 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014, Orlando, FL, United States, 5/27/14. https://doi.org/10.1109/ICUAS.2014.6842301

Saska M, Chudoba J, Precil L, Thomas J, Loianno G, Tresnak A et al. Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. In 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society. 2014. p. 584-595. 6842301. (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). doi: 10.1109/ICUAS.2014.6842301

Saska, Martin ; Chudoba, Jan ; Precil, Libor et al. / Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society, 2014. pp. 584-595 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings).

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

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