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Conference Papers Year : 2018

Using constraint propagation for cooperative UAV localization from vision and ranging

Abstract

This paper addresses the problem of cooperative localization in a group of unmanned aerial vehicles (UAV) in a bounded error context. The UAVs are equipped with cameras to tracks landmarks, and a communication and ranging system to cooperate with their neighbours. Measurements are represented by intervals, and constraints are expressed on the robots poses (positions and orientations). Each robot first computes a pose domain using only its sensors measurements, by using set inversion via interval analysis [1]. Then, through position boxes exchange, positions are cooperatively refined by constraint propagation in the group. Results are presented with real robot data, and show position accuracy improvement thanks to cooperation.
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Dates and versions

hal-01814775 , version 1 (13-06-2018)

Identifiers

  • HAL Id : hal-01814775 , version 1

Cite

Ide-Flore Kenmogne, Vincent Drevelle, Eric Marchand. Using constraint propagation for cooperative UAV localization from vision and ranging. CoProd 2018 - Constraint Programming and Decision Making Workshop, Sep 2018, Tokyo, Japan. pp.1-5. ⟨hal-01814775⟩
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