7 papers
Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers
Tim Lakemann, Daniel Bonilla Licea, Viktor Walter +1
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these t…
Distributed UAV Formation Control Robust to Relative Pose Measurement Noise
Viktor Walter, Matouš Vrba, Daniel Bonilla Licea +2
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmann…
Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking
Manuel Boldrer, Vit Kratky, Viktor Walter +1
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information…
FIMD: Fast Isolated Marker Detection for UV-Based Visual Relative Localisation in Agile UAV Swarms
VojtÄch Vrba, Viktor Walter, Petr Å tÄpán +1
A novel approach for the fast onboard detection of isolated markers for visual relative localisation of multiple teammates in agile UAV swarms is introduced in this paper. As the d…
Optical communication-based identification for multi-UAV systems: theory and practice
Daniel Bonilla Licea, Viktor Walter, Mounir Ghogho +1
Mutual relative localization and identification is an important feature for the stabilization and navigation of multi-Unmanned Aerial Vehicle (UAV) systems. Camera-based communicat…
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization
Tim Felix Lakemann, Daniel Bonilla Licea, Viktor Walter +2
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active bl…