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Collaborative localization and formation flying using distributed stereo-vision
2016
2016 IEEE International Conference on Robotics and Automation (ICRA)
This paper considers collaborative stereo-vision as a mean of localization for a fleet of micro-air vehicles (MAV) equipped with monocular cameras, inertial measurement units and sonar sensors. A sensor fusion scheme using an extended Kalman filter is designed to estimate the positions and orientations of all the vehicles from these distributed measurements. The estimation is completed by a formation control to maximize the overlapping fields of view of the vehicles. Experimental tests for the
doi:10.1109/icra.2016.7487251
dblp:conf/icra/PiascoMS16
fatcat:wmp7trbavbfcbg2isqpyxsiuwm