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Relative localization with computer vision and UWB range for flying robot formation control
Faculty of Information Technology, Monash University.
Department of Mechanical and Aerospace Engineering, Monash University.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.ORCID iD: 0000-0001-9484-9766
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.ORCID iD: 0000-0001-9586-0991
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Number of Authors: 5
2017 (English)In: 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, 7838839Conference paper, Published paper (Refereed)
Abstract [en]

Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost webcam provide angle measurements. To achieve the latter, we employed the Camshift algorithm and a Kalman filter. We tested our system outdoors during daylight using centimeter-accuracy GPS measurements as ground truth. Three data sets have been collected from a series of experiments and it shows that errors in estimated relative positions are between +/-0.190 m on the x-East axis and +/-0.291 m on the z-North axis at 95% confidence level

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. 7838839
Series
International Conference on Control Automation Robotics and Vision, E-ISSN 2474-2953
National Category
Embedded Systems
Research subject
Embedded System
Identifiers
URN: urn:nbn:se:ltu:diva-62659DOI: 10.1109/ICARCV.2016.7838839ISI: 000405520900240Scopus ID: 2-s2.0-85015222381ISBN: 9781509035496 (electronic)OAI: oai:DiVA.org:ltu-62659DiVA: diva2:1084303
Conference
14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, 13-15 November 2016
Available from: 2017-03-24 Created: 2017-03-24 Last updated: 2017-08-17Bibliographically approved

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CiteExportLink to record
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Citation style
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  • de-DE
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