Rather than having a central controller, we have implemented a single individual controller for each drone involved in the coordinated flight. For this technique to be utilised, a single camera is mounted onboard the MAV, and even when a monocular camera is used to perform visual SLAM, if the camera angle w.r.t to the base of the drone and altitude are known, then the scale of the MAV's pose can be estimated. In contrast, in this work, we present an approach for GPS-denied scenarios where localisation is resolved by using a well-known technique in robotics: visual simultaneous localisation and mapping. Although impressive, these demonstrations strongly depend on the use of GPS in order to effectively deploy MAVs in a coordinated fashion. In recent years, we have seen demonstrations performed by giant companies such as Intel, where hundreds of drones perform a coordinated flight in the open sky. Flight coordination of Micro Air Vehicles (MAVs) has become an essential task in the autonomous fight of swarms of drones.
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