Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments

This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the obser...

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Detalhes bibliográficos
Autores: Trujillo, Juan Carlos, Munguía Alcalá, Rodrigo Francisco, Guerra Paradas, Edmundo|||0000-0002-6696-0982, Grau Saldes, Antoni|||0000-0003-4112-3325
Formato: artículo
Fecha de publicación:2018
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/117359
Acesso em linha:https://hdl.handle.net/2117/117359
https://dx.doi.org/10.3390/s18051351
Access Level:acceso abierto
Palavra-chave:Global Positioning System
state estimation
unmanned aerial vehicle
monocular vision
localization
mapping
observability
cooperative
Sistema de posicionament global
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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oai_identifier_str oai:upcommons.upc.edu:2117/117359
network_acronym_str ES
network_name_str España
repository_id_str
spelling Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environmentsTrujillo, Juan CarlosMunguía Alcalá, Rodrigo FranciscoGuerra Paradas, Edmundo|||0000-0002-6696-0982Grau Saldes, Antoni|||0000-0003-4112-3325Global Positioning Systemstate estimationunmanned aerial vehiclemonocular visionlocalizationmappingobservabilitycooperativeSistema de posicionament globalÀrees temàtiques de la UPC::Informàtica::Automàtica i controlThis work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.Peer ReviewedMultidisciplinary Digital Publishing Institute (MDPI)20182018-04-2620182018-05-18journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/117359https://dx.doi.org/10.3390/s1805135129701722reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenanceopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1173592026-05-27T15:37:01Z
dc.title.none.fl_str_mv Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
title Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
spellingShingle Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
Trujillo, Juan Carlos
Global Positioning System
state estimation
unmanned aerial vehicle
monocular vision
localization
mapping
observability
cooperative
Sistema de posicionament global
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
title_full Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
title_fullStr Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
title_full_unstemmed Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
title_sort Cooperative monocular-based SLAM for multi-UAV systems in GPS-denied environments
dc.creator.none.fl_str_mv Trujillo, Juan Carlos
Munguía Alcalá, Rodrigo Francisco
Guerra Paradas, Edmundo|||0000-0002-6696-0982
Grau Saldes, Antoni|||0000-0003-4112-3325
author Trujillo, Juan Carlos
author_facet Trujillo, Juan Carlos
Munguía Alcalá, Rodrigo Francisco
Guerra Paradas, Edmundo|||0000-0002-6696-0982
Grau Saldes, Antoni|||0000-0003-4112-3325
author_role author
author2 Munguía Alcalá, Rodrigo Francisco
Guerra Paradas, Edmundo|||0000-0002-6696-0982
Grau Saldes, Antoni|||0000-0003-4112-3325
author2_role author
author
author
dc.subject.none.fl_str_mv Global Positioning System
state estimation
unmanned aerial vehicle
monocular vision
localization
mapping
observability
cooperative
Sistema de posicionament global
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Global Positioning System
state estimation
unmanned aerial vehicle
monocular vision
localization
mapping
observability
cooperative
Sistema de posicionament global
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.
publishDate 2018
dc.date.none.fl_str_mv 2018
2018-04-26
2018
2018-05-18
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/117359
https://dx.doi.org/10.3390/s18051351
29701722
url https://hdl.handle.net/2117/117359
https://dx.doi.org/10.3390/s18051351
identifier_str_mv 29701722
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute (MDPI)
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute (MDPI)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869417070008991744
score 15.301603

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