Vision-Based Formation Control of Aerial Vehicles

Tron, Roberto; Thomas, Justin; Loianno, Giuseppe; Polin, Joe; Kumar, Vijay; Daniilidis, Kostas; University of Pennsylvania

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Vision-Based Formation Control of Aerial Vehicles

2014-01-01
By Tron, Roberto ; Thomas, Justin ; Loianno, Giuseppe ; ...

[PDF-1.78 MB]

English

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Creators:

Tron, Roberto ; Thomas, Justin ; Loianno, Giuseppe ; Polin, Joe ; Kumar, Vijay ; ... More +

Tron, Roberto ; Thomas, Justin ; Loianno, Giuseppe ; Polin, Joe ; Kumar, Vijay ; Daniilidis, Kostas Less -
Corporate Creators:

University of Pennsylvania
Subject/TRT Terms:

[+]

Air Traffic Control Air Vehicles Drone Aircraft Field Tests Plannning And Forecasting Simulation Vision
Resource Type:

Tech Report
Geographical Coverage:

United States ; Pennsylvania

United States ; Pennsylvania Less -
Corporate Publisher:

University of Pennsylvania
Abstract:

Abstract: We propose a general solution for the problem of distributed, vision-based formation control of aerial vehicles. Our solution is based on pure bearing measurements, optionally augmented with the corresponding distances. As opposed to the state of the art, our control law does not require auxiliary distance measurements or estimators, it can be applied to leaderless or leaderbased formations with arbitrary topologies, and it has global convergence guarantees. We validate our approach through simulations and experiments on a platform of three quadrotors.
Format:

PDF
Collection(s):

US Transportation Collection
Main Document Checksum:

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urn:sha256:1c728805b3cd6d548f84b9b7165db424b329f51cc9a208ba5583497aaea1f834
Download URL:

https://rosap.ntl.bts.gov/view/dot/37031/dot_37031_DS1.pdf
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Vision-Based Formation Control of Aerial Vehicles

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