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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PublisherIEEE Computer Society
Pages584-595
Number of pages12
ISBN (Print)9781479923762
DOIs
StatePublished - 2014
Event2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States
Duration: May 27 2014May 30 2014

Publication series

Name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
CountryUnited States
CityOrlando, FL
Period5/27/145/30/14

ASJC Scopus subject areas

  • Aerospace Engineering

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  • 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). [6842301] (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ICUAS.2014.6842301