My watch list
my.chemeurope.com  
Login  

Sensors, Vol. 18, Pages 1351: Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments

Sensors, Vol. 18, Pages 1351: Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments

Sensors doi: 10.3390/s18051351

Authors: Juan-Carlos Trujillo Rodrigo Munguia Edmundo Guerra Antoni Grau

This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.

Authors:   Trujillo, Juan-Carlos ; Munguia, Rodrigo ; Guerra, Edmundo ; Grau, Antoni
Journal:   Sensors
Volume:   18
edition:   5
Year:   2018
Pages:   1351
DOI:   10.3390/s18051351
Publication date:   26-Apr-2018
Facts, background information, dossiers
More about Molecular Diversity Preservation International
Your browser is not current. Microsoft Internet Explorer 6.0 does not support some functions on Chemie.DE