Vision-IMU based collaborative control of a blind UAV

Robin Hoogervorst; Stefano Stramigioli; Han Willem Wopereis; Matteo Fumagalli

doi:10.1109/RED-UAS.2015.7440990

Vision-IMU based collaborative control of a blind UAV

Robin Hoogervorst
, Stefano Stramigioli
, Han Willem Wopereis
, Matteo Fumagalli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

Abstract

Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.

Original language	English
Title of host publication	Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015
Place of Publication	USA
Publisher	IEEE
Pages	53-61
Number of pages	9
ISBN (Print)	978-1-5090-1784-3
DOIs	https://doi.org/10.1109/RED-UAS.2015.7440990
Publication status	Published - 23 Nov 2015
Event	Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Cancun, Mexico: Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 - USA Duration: 23 Nov 2015 → …

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Cancun, Mexico
City	USA
Period	23/11/15 → …

Keywords

EC Grant Agreement nr.: FP7/644128
IR-103452
METIS-321704
EWI-27696

Access to Document

10.1109/RED-UAS.2015.7440990

Vision-IMU Based Collaborative Control of a Blind UAV
Hoogervorst, R. (Creator), Stramigioli, S. (Creator), Wopereis, H. (Creator) & Fumagalli, M. (Creator), Zenodo, 31 Dec 2017
DOI: 10.5281/zenodo.1134199, https://zenodo.org/record/1134199 and 2 more links, https://doi.org/10.5281/zenodo.1134200, https://zenodo.org/record/1134200 (show fewer)
Dataset

Cite this

@inproceedings{4e86afc34069406985f592db30b804de,

title = "Vision-IMU based collaborative control of a blind UAV",

abstract = "Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.",

keywords = "EC Grant Agreement nr.: FP7/644128, IR-103452, METIS-321704, EWI-27696",

author = "Robin Hoogervorst and Stefano Stramigioli and Wopereis, \{Han Willem\} and Matteo Fumagalli",

note = "10.1109/RED-UAS.2015.7440990 ; Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Cancun, Mexico : Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 ; Conference date: 23-11-2015",

year = "2015",

month = nov,

day = "23",

doi = "10.1109/RED-UAS.2015.7440990",

language = "English",

isbn = "978-1-5090-1784-3",

publisher = "IEEE",

pages = "53--61",

booktitle = "Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015",

address = "United States",

}

Hoogervorst, R, Stramigioli, S, Wopereis, HW & Fumagalli, M 2015, Vision-IMU based collaborative control of a blind UAV. in Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015. IEEE, USA, pp. 53-61, Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Cancun, Mexico, USA, 23/11/15. https://doi.org/10.1109/RED-UAS.2015.7440990

TY - GEN

T1 - Vision-IMU based collaborative control of a blind UAV

AU - Hoogervorst, Robin

AU - Stramigioli, Stefano

AU - Wopereis, Han Willem

AU - Fumagalli, Matteo

N1 - 10.1109/RED-UAS.2015.7440990

PY - 2015/11/23

Y1 - 2015/11/23

N2 - Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.

AB - Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.

KW - EC Grant Agreement nr.: FP7/644128

KW - IR-103452

KW - METIS-321704

KW - EWI-27696

U2 - 10.1109/RED-UAS.2015.7440990

DO - 10.1109/RED-UAS.2015.7440990

M3 - Conference contribution

SN - 978-1-5090-1784-3

SP - 53

EP - 61

BT - Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015

PB - IEEE

CY - USA

T2 - Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015, Cancun, Mexico

Y2 - 23 November 2015

ER -

Vision-IMU based collaborative control of a blind UAV

Abstract

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Keywords

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Vision-IMU Based Collaborative Control of a Blind UAV

Cite this