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Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication [article]

Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund
2021 arXiv   pre-print
External localization solutions, such as motion capture (MOCAP) systems, visual markers, or ultra-wideband (UWB) anchors are often used.  ...  The platform is based on the Ryze Tello Drone, a Raspberry Pi Zero W as a companion computer together with a camera module, and a Decawave DWM1001 UWB module for ranging and basic communication.  ...  Vio-uwb-based collaborative localization and dense scene reconstruction within heterogeneous multi-robot systems. arXiv preprint arXiv:2011.00830, 2020. [ 4] Jürgen Scherer and Bernhard Rinner.  ... 
arXiv:2104.09274v1 fatcat:6ioxkkqfrrcn7foaewkryklnte

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yuanhao Qu, Minghao Yang, Jiaqing Zhang, Wu Xie, Baohua Qiang, Jinlong Chen
2021 Sensors  
the mainstream technologies of multi-sensor fusion methods, including various combinations of sensors and several widely recognized multi-modal sensor datasets.  ...  This work summarizes the multi-sensor fusion methods for mobile agents' navigation by: (1) analyzing and comparing the advantages and disadvantages of a single sensor in the task of navigation; (2) introducing  ...  The most advanced UWB localization equipment has an error within 10 cm [37] .  ... 
doi:10.3390/s21051605 pmid:33668886 pmcid:PMC7956205 fatcat:7twh225phbbupjd4fv2fw6twum

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge  ...  We would like to thank the rest of Team CoSTAR, our collaborators, and advisors for their support, fruitful discussions and their contributions to the project.  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
and future directions in unmanned aircraft systems.  ...  2020 International Conference on Unmanned Aircraft Systems (ICUAS'20).  ...  Based on the closed-loop multi-agent system, an eventtriggered mechanism is designed to reduce the information exchange between agents.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe