UVDAR-COM: UV-Based Relative Localization of UAVs with Integrated Optical Communication

Horyna, Jiri; Walter, Viktor; Saska, Martin

doi:10.1109/icuas54217.2022.9836151

Cited by 10 publications

(8 citation statements)

References 25 publications

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“…This is done by using ultraviolet LEDs that emit particular optical identification signals, which are detected and decoded using cameras equipped with an optical filter that significantly attenuates most of the image background [98,101], and thus simplifies the detection of the optical signals on the camera frame. This method has been tested with great success in multiple real-world deployments of swarms and formations of UAVs [2,27,39,58,66,102,103].…”

Section: Sensory Equipmentmentioning

confidence: 99%

“…A modified version of the UVDAR system has been developed to enable optical communication between the UAVs. This modified system is called UVDAR-COM [39] and allows simultaneous communication and localization between the UAVs. Currently, research is being performed to extend its communication range and increase its bit rate, as well as to enable the utilization of the known measurement error covariances for more reliable sensor-based cooperative behavior.…”

Section: Sensory Equipmentmentioning

confidence: 99%

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MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Heřt

Báča

Petráček

et al. 2023

J Intell Robot Syst

Self Cite

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This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

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Section: Sensory Equipmentmentioning

confidence: 99%

Section: Sensory Equipmentmentioning

confidence: 99%

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Heřt

Báča

Petráček

et al. 2023

J Intell Robot Syst

Self Cite

View full text Add to dashboard Cite

show abstract

“…This open-source 4 system enables robust mutual localization based on active ultraviolet markers broadcasting identification signals, that are detected and decoded using ultraviolet-sensitive cameras ignoring significant portion of the image background [23], [24]. This method has been tested with great success in multiple real-world deployments of swarms and formations of UAVs [19], [25]- [30], and it is being continuously developed and improved-upon.…”

Section: E Sensory Equipmentmentioning

confidence: 99%

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

Hert,

Baca,

Petracek

et al. 2023

Preprint

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“…As mentioned before, we assume that the UAVs are equipped with on-board omnidirectional sensors [33][34][35][36] that allow for estimating the position of the surrounding UAVs, as well as detecting their IDs (IDs simplify the separation of multiple observed neighbor UAVs and retrieval of their relative position). We also assume that the individual UAVs are equipped with the necessary sensors to implement simultaneous localization and mapping (SLAM) [37] for localization and navigation.…”

Section: Problem Statementmentioning

confidence: 99%

PACNav: a collective navigation approach for UAV swarms deprived of communication and external localization

Ahmad¹,

Licea²,

Silano³

et al. 2022

Bioinspir. Biomim.

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This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is based on the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. As global and concurrent information of all swarm members is not available in natural swarms, these systems use local observations to achieve the desired behavior. Similarly, PACNav relies only on local observations of relative positions of UAVs, making it suitable for large swarms deprived of communication capabilities and external localization systems. We introduce the novel concepts of path persistence and path similarity that allow each swarm member to analyze the motion of other members in order to determine its own future motion. PACNav is based on two main principles: (1) UAVs with little variation in motion direction have high path persistence, and are considered by other UAVs to be reliable leaders; (2) groups of UAVs that move in a similar direction have high path similarity, and such groups are assumed to contain a reliable leader. The proposed approach also embeds a reactive collision avoidance mechanism to avoid collisions with swarm members and environmental obstacles. This collision avoidance ensures safety while reducing deviations from the assigned path. Along with several simulated experiments, we present a real-world experiment in a natural forest, showcasing the validity and effectiveness of the proposed collective navigation approach in challenging environments. The source code is released as open-source, making it possible to replicate the obtained results and facilitate the continuation of research by the community.

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UVDAR-COM: UV-Based Relative Localization of UAVs with Integrated Optical Communication

Cited by 10 publications

References 25 publications

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments

PACNav: a collective navigation approach for UAV swarms deprived of communication and external localization

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