Decentralized approach to unmanned aerial vehicle navigation: Without the use of the global positioning system and preloaded maps

Abstract

In this paper we address the issue of autonomous navigation, that is, the ability for a navigation system to provide information about the states of a vehicle without the need for a priori infrastructures such as GPS, beacons, or preloaded maps of the area of interest. The algorithm applied is known as Simultaneous Localisation and Mapping (SLAM). It is a terrain aided navigation system which has the capability for online map building, while simultaneously utilising the generated map to bound the errors in the navigation solution. As no a priori terrain information nor initial knowledge of the vehicle location is required, this algorithm presents a powerful navigation augmentation system. More importantly, it can be implemented as an independent navigation system. This paper also describes a decentralised SLAM algorithm which allows multiple vehicles to acquire a joint 3D map via a decentralised information fusion network. The key idea behind this decentralised SLAM is to represent the map in information form (negative log-likelihood) for communication. Experimental results are provided using computer simulation to demonstrate the single-vehicle and multi-vehicles SLAM without the use of GPS and preloaded maps.

The Design and Application of the All-Digital Flight Simulation Platform

“…From above, the aircraft's flight simulation is achieved by the microcomputer, that is the simulation is implemented within the simulation computer. In the simulation program, we used VC + +6.0 [5] as the compiler development and used double machine simulation model for the study.…”

Decentralized SLAM for pedestrians without direct communication

“…Therefore, we assume in Decentralized RIFD-SLAM (DRFID-SLAM) that radio communication is constantly perturbed. Note that this assumption is hard, compared to other approaches that require at least low-bandwidth communication channels between the agents [18], [17], [8]. Furthermore, we assume that RFIDs have sufficient memory for storing RFID graph structures as described in Section III.…”

“…Efficient solutions for decentralized SLAM have been introduced in the past [18], [17], [8]. These approaches assume that at least low-bandwidth radio communication between the agents is possible.…”

Junction-tree-based cooperative orbit determination for crosslink-augmented satellite constellations

“…Funiak et al 12 designed a distributed localization algorithm of networked cameras based on JT, and achieved centralized EKF equivalent precision. Kim et al 13 developed a decentralized SLAM algorithm based on extended information filter which is similar to Paskin's solution. Mu et al 14 introduces a decentralized solution to the problem of cooperative localization for robot teams based on JT, and summarizes the basic operations on conditional Gaussian (CG) distributions for linear time invariant (LTI) systems.…”