In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a static user acting as a central unit whose main task is to acquire all the UAV measurements carrying position-dependent information and to estimate the UAV positions when there is no existing infrastructure for positioning. Subsequently, the user exploits the estimated positions as inputs for the navigation control with the aim of deploying the UAVs in a desired formation in space (formation shaping). The user plans the trajectory of each UAV in real time, guaranteeing a safe navigation in the presence of obstacles. The proposed algoritlun guides the UAVs to their desired final locations with good accuracy.
Joint Indoor Localization and Navigation of UAVs for Network Formation Control / Guerra, A; Dardari, D; Djuric, PM. - ELETTRONICO. - 2018:(2018), pp. 8645291.13-8645291.19. (Intervento presentato al convegno 52nd Asilomar Conference on Signals, Systems, and Computers - 2018 tenutosi a Pacific Grove, CA, USA nel October 28–31, 2018) [10.1109/ACSSC.2018.8645291].
Joint Indoor Localization and Navigation of UAVs for Network Formation Control
Guerra, A
;Dardari, D;
2018
Abstract
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a static user acting as a central unit whose main task is to acquire all the UAV measurements carrying position-dependent information and to estimate the UAV positions when there is no existing infrastructure for positioning. Subsequently, the user exploits the estimated positions as inputs for the navigation control with the aim of deploying the UAVs in a desired formation in space (formation shaping). The user plans the trajectory of each UAV in real time, guaranteeing a safe navigation in the presence of obstacles. The proposed algoritlun guides the UAVs to their desired final locations with good accuracy.| File | Dimensione | Formato | |
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Asilomar_final-postprint.pdf
Open Access dal 22/08/2019
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