Collaborative localization and formation flying using distributed stereo-vision

Nathan Piasco, Julien Marzat, Martial Sanfourche
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
more » ... omplete perception and control loop have been performed on multiple MAVs with centralized processing on a ROS ground station.
doi:10.1109/icra.2016.7487251 dblp:conf/icra/PiascoMS16 fatcat:wmp7trbavbfcbg2isqpyxsiuwm