Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system

Zhang, Tianguang; Li, Wei; Achtelik, Markus; Kühnlenz, Kolja; Buss, Martin

doi:10.1109/robio.2009.5420631

Cited by 25 publications

(8 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Zhang et al [12] present a multi-robot system, capable of tracking the pose of a MAV and ground robot. Pose tracking is achieved through vision processing offboard the MAV.…”

Section: Previous Workmentioning

confidence: 99%

An open-source pose estimation system for micro-air vehicles

Dryanovski

Morris

Xiao

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

This paper presents the implementation of an open-source 6-DoF pose estimation system for micro-air vehicles and considers the future implications and benefits of open-source robotics. The system is designed to provide high frequency pose estimates in unknown, GPS-denied indoor environments. It requires a minimal set of sensors including a planar laser range-finder and an IMU sensor. The code is optimized to run entirely onboard, so no wireless link and ground station are explicitly needed. A major focus in our work is modularity, allowing each component to be benchmarked individually, or swapped out for a different implementation, without change to the rest of the system. We demonstrate how the pose estimation can be used for 2D SLAM or 3D mapping experiments. All the software and hardware which we have developed, as well as extensive documentation and test data, is available online.

show abstract

“…Zhang et al [12] present a multi-robot system, capable of tracking the pose of a MAV and ground robot. Pose tracking is achieved through vision processing offboard the MAV.…”

Section: Previous Workmentioning

confidence: 99%

An open-source pose estimation system for micro-air vehicles

Dryanovski

Morris

Xiao

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…As the altitude is changed from h1 to h2, the area of quadrangles will be changed from A h1 to A h2 . To obtain the accurate altitude information, other information like focal length and FOV (Field Of View) of the image sensor should be considered [20]. Instead of considering this kind of information, a look-up table can be used.…”

Section: E Altitude Estimationmentioning

confidence: 99%

Attitude control of quadrotor with on-board visual feature projection system

Lee

Kim

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Recently many researches have been studied to run autonomous flying vehicles. Especially, quadrotor VTOL (Vertical Take-Off and Landing) has been a challenging subject. To stabilize the quadrotor system, many control algorithms and sensor systems have been developed. Most of them are based on the sensors like accelerometer, gyroscope, or IMU (Inertial Measurement Unit) to measure the attitude of quadrotor. Instead of using these conventional sensors, we apply one vision sensor to stabilize the attitude of a quadrotor system. To achieve this, four laser diodes are evenly distributed in the bottom plane of quadrotor, and then they point downwards. The positions of projected laser markers depend on the attitude and height of the quadrotor. We develop a control algorithm to stabilize the attitude as well as to control the height of a quadrotor. We show that the visual tracking of the laser markers is sufficient to estimate the state of the quadrotor attitude and control the attitude into a desired state.

show abstract

“…Work by Zhang et al on Multi-Sensory Motion Estimation and Control of a Mini-Quadrotor in an Air-Ground MultiRobot System with the purpose of applying bio-inspired sensor-motor modeling [41]. It consists of a flying miniature quad-rotor equipped with inertial and visual sensors, and a wheeled mini-robot equipped with active markers.…”

Section: Multiple Sensorymentioning

confidence: 99%

A review of autonomous multi-agent quad-rotor control techniques and applications

Nathan

Almurib

Kumar

2011

2011 4th International Conference on Mechatronics (ICOM)

View full text Add to dashboard Cite

The theory analysis of this review is applied to the task of controlling and maneuvering the quad-rotor. The singular four rotor flying vehicle is designed, optimized and applied to the expanded multi-agent system. This produces an evaluation and discussion of the most common and lesser known control laws used to navigate the vehicle as it performs basic translational and rotational motions. Related works based on the complexity of successful collision avoidance and formation between multi-agent quad-rotors is evaluated. A comparison is made between the advantages and disadvantages of each design to allow an understanding of the current research in the field of the multiagent four rotor flying vehicle. The achievements and applications of the intelligent multi-agent system are then addressed. Lastly, future prospects and challenges to overcome are suggested.

show abstract

Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system

Cited by 25 publications

References 8 publications

An open-source pose estimation system for micro-air vehicles

An open-source pose estimation system for micro-air vehicles

Attitude control of quadrotor with on-board visual feature projection system

A review of autonomous multi-agent quad-rotor control techniques and applications

Contact Info

Product

Resources

About