Audio-based localization for swarms of micro air vehicles

Basiri, Meysam; Schill, Felix; Floreano, Dario; Lima, Pedro U.

doi:10.1109/icra.2014.6907551

Cited by 29 publications

(23 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Consequently, recent demonstrations of outdoor flocking of ten fixed-wing drones 79 and ten hovering drones 80 relied on radio communication of GPS coordinates between neighbouring drones. An alternative approach to perception of neighbours consists of exploiting the direction and intensity of the sound emitted by neighbouring drone engines 81 , which may complement or replace visual cues at night or in foggy conditions.…”

Section: Review Insightmentioning

confidence: 99%

Science, technology and the future of small autonomous drones

Floreano

Wood

2015

Nature

Self Cite

1,049

552

View full text Add to dashboard Cite

Drones, a popular nickname for unmanned aerial vehicles and micro aerial vehicles, often conjure up images of unmanned aeroplanes that fly thousands of miles for espionage and to deploy munitions. However, over the past few years, an increasing number of public and private research laboratories have been working on small, human-friendly drones that one day may autonomously fly in confined spaces and in close proximity to people. The development of these small drones, which is the main focus of this Review, has been supported by the miniaturization and cost reduction of electronic components (microprocessors, sensors, batteries and wireless communication units), largely driven by the portable electronic device industry. These improvements have enabled the prototyping and commercialization of small (typically less than 1 kg) drones at smartphone prices.Small drones will have important socio-economic impacts (Fig. 1). Images from drones that are capable of flying a few metres above the ground will fill a gap between expensive, weather-dependent and lowresolution images provided by satellites and car-based images limited to human-level perspectives and the availability of accessible roads. Specialized flying cameras and cloud-based data analytics will allow farmers to continuously monitor the quality of crop growth. Such platforms will enable construction companies to measure work progress in real time. Drones will let mining companies obtain precise volumetric data of excavations. Energy and infrastructure companies will be able to exhaustively survey pipelines, roads and cables. Humanitarian organizations could immediately assess and adapt aid efforts in continuously changing refugee camps. Transportation drones that are capable of safely taking off and landing in the proximity of buildings and humans will allow developing countries -without a suitable road network -to rapidly deliver goods and to finally unleash the full potential of their e-commerce telecommunication infrastructure. Transportation drones will also help developed countries to improve the quality of service in congested or remote areas, and will enable rescue organizations to quickly deliver medical supplies in the field and on demand. Inspection drones that are capable of flying in confined spaces will help fire-fighting and emergency units to assess dangers faster and more safely, logistic companies to detect cracks in the inner and outer shells of ships, road maintenance companies to measure signs of wear and tear in bridges and tunnels, security companies to improve building safety by monitoring areas outside the range of surveillance cameras, and disaster mitigation agencies to inspect partially collapsed buildings where ground clutter is an obstacle for terrestrial robots. Coordinated teams of autonomous drones will enable missions that last longer than the flight time of a single drone by allowing some drones to temporarily leave the team for battery replacement. Drone teams will permit rescue organizations to quickly deploy dedicated commu...

show abstract

Section: Review Insightmentioning

confidence: 99%

Science, technology and the future of small autonomous drones

Floreano

Wood

2015

Nature

Self Cite

1,049

552

View full text Add to dashboard Cite

show abstract

“…Alternatively, recent work by Basiri (2015) uses on-board sound-based localization. A microphone array and a chirp generator are mounted on-board of the MAVs, and the difference between arrival times of the chirp at the different microphones is used to estimate the relative bearing (Basiri et al 2014(Basiri et al , 2016.…”

Section: Related Work and Research Contextmentioning

confidence: 99%

“…A microphone array and a chirp generator are mounted on-board of the MAVs, and the difference between arrival times of the chirp at the different microphones is used to estimate the relative bearing (Basiri et al 2014(Basiri et al , 2016. This method requires dedicated hardware, which for smaller MAVs can account for an increase in mass of even 10-20% (Basiri et al 2016;Remes et al 2014).…”

Section: Related Work and Research Contextmentioning

confidence: 99%

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams

et al. 2018

View full text Add to dashboard Cite

To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing these quantities provides a relative location estimate. We used this for collision avoidance in tight areas, testing with up to three AR.Drones in a 4 m × 4 m area and with two miniature drones (≈ 50 g) in a 2 m × 2 m area. The MAVs could localize each other and fly several minutes without collisions. In our implementation, MAVs communicated using Bluetooth antennas. The results were robust to the high noise and disturbances in signal strength. They could improve further by using transceivers with more accurate signal strength readings.

show abstract

“…Relative localization for AUVs has been demonstrated using several physical channels, such as sound [16] or infrared [17]. However, the most mature approaches use camera systems, extracting range and bearing information based on the object size and position in the image.…”

Section: Introductionmentioning

confidence: 99%

On-board vision-based 3D relative localization system for multiple quadrotors

Dias

Ventura

Lima

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Abstract-This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a predefined frequency, provides an unique platform ID. We discuss how the camera field of view can be explored in presence of multiple targets, and what are the conditions on the system visibility that lead to the establishment of bidirectional sensing between robots with similar sensing capabilities. A visibility analysis is conducted to show that the developed relative localization system meets such requirements, and a closed-loop experiment is used to validate its performance under these conditions. Finally, its performance is compared with other results from the literature, and a metric is established with the intent of mapping different design solutions, facilitating design choices in presence of different requirements.

show abstract

Audio-based localization for swarms of micro air vehicles

Cited by 29 publications

References 20 publications

Science, technology and the future of small autonomous drones

Science, technology and the future of small autonomous drones

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams

On-board vision-based 3D relative localization system for multiple quadrotors

Contact Info

Product

Resources

About