On-Board Relative Bearing Estimation for Teams of Drones Using Sound

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

doi:10.1109/lra.2016.2527833

Cited by 44 publications

(37 citation statements)

References 38 publications

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“…As shown in Refs. and , the same hardware configuration could also be used for the task of interrobot relative positioning and without the need for any additional hardware.…”

Section: Experiments and Resultsmentioning

confidence: 99%

“…This system could further be exploited to also address some of the problems faced in the design of multi‐MAV systems. In previous works, we showed the success of audio‐based solutions for tasks such as relative positioning and self‐localization in a swarm of aerial robots, where we demonstrated onboard solutions for allowing robots to measure the relative position of their neighboring robots either by perceiving their engine sounds or by means of active acoustic signaling.…”

Section: Introductionmentioning

confidence: 88%

“…This is achieved by computing the source direction u ls and error r , for all possible time delay combinations using Eqs. (13) and (14). Those values of u ls that have the lowest errors are considered as potential directions toward the sound source.…”

Section: Direction Estimationmentioning

confidence: 99%

“…In Refs. and , we demonstrated the use of a compact onboard microphone array and a TDOA‐based approach for relative positioning among individuals in a team of flying robots.…”

Section: Introductionmentioning

confidence: 99%

“…This system could further be exploited to also address some of the problems faced in the design of multi-MAV systems. In previous works, we showed the success of audio-based solutions for tasks such as relative positioning 13,14 and self-localization 15 Hearing has always been one of the key senses among humans and animals allowing them to use sound for attracting attention, communication, and localization purposes. Despite this, audition in robotics has not received great attention compared to vision, and most studies on this focus on speech recognition and localization of talkers for home, office, and humanoid robots.…”

Section: Introductionmentioning

confidence: 99%

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Localization of emergency acoustic sources by micro aerial vehicles

Basiri

Schill

Lima

et al. 2017

Journal of Field Robotics

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For micro aerial vehicles (MAVs) involved in search and rescue missions, the ability to locate the source of a distress sound signal is significantly important and allows fast localization of victims and rescuers during nighttime, through foliage and in dust, fog, and smoke. Most emergency sound sources, such as safety whistles and personal alarms, generate a narrowband signal that is difficult to localize by human listeners or with the common localization methods suitable for broadband sounds. In this paper, we present three methods for MAV‐based emergency sound localization system. The first method involves designing a new emergency source for immediate localization by the MAV using a common localization method. The other two novel methods allow localizing the currently available emergency sources, or other narrowband sounds in general, that are difficult to localize due to the periodicity in the sequence of sound samples. The second method exploits the Doppler shift in the sound frequency, caused due to the motion of the MAV and the dynamics of the MAV to assist with the localization. The third method involves active control of the robot's attitude and fusing acoustic and attitude measurements for achieving accurate and robust estimates. We evaluate our methods in real‐world experiments with real flying robots.

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“…As shown in Refs. and , the same hardware configuration could also be used for the task of interrobot relative positioning and without the need for any additional hardware.…”

Section: Experiments and Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 88%

Section: Direction Estimationmentioning

confidence: 99%

“…In Refs. and , we demonstrated the use of a compact onboard microphone array and a TDOA‐based approach for relative positioning among individuals in a team of flying robots.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Localization of emergency acoustic sources by micro aerial vehicles

Basiri

Schill

Lima

et al. 2017

Journal of Field Robotics

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Affect Display Recognition Through Tactile and Visual Stimuli in a Social Robot

Marques-Villarroya¹,

Gamboa-Montero²,

Jumela-Yedra³

et al. 2022

Lecture Notes in Computer Science

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This thesis is distributed under license "Creative Commons Atributtion -NonCommercial -Non Derivatives".A toda mi familia.En primer lugar tengo que agradecer por todo el trabajo a mis directores, Fernando y José Carlos, y a mi tutor, Miguel Ángel, por toda su ayuda. Sin duda alguna, de no ser por ellos, todo este trabajo no podría haber sido posible. A Fernando quiero agradecerle su cercanía, sus ideas y todo ese dinamismo tremendamente contagioso que ha permitido que este trabajo tuviera nuevas opciones cuando parecía que habíamos tocado hueso. Quiero agradecerle las charlas, los consejos y los paseos juntos divagando sobre cualquier tema que se nos viniese a la cabeza. A José Carlos quiero darle las gracias por todo su apoyo, serenidad y buen juicio, por estar ahí siempre que lo he necesitado, y, sobre todo, por estar ahí cuando no sabía que le necesitaba. Quiero agradecerle tanto por su paciencia conmigo y su sensatez, como por los buenos momentos y las risas juntos. A Miguel Ángel tengo que agradecerle toda su vasta experiencia, por los consejos en momentos críticos del trabajo y por su guía y buen criterio. Él ha sido el que me ha brindado esta enorme oportunidad y, sobre todo, quiero agradecerle por la estabilidad y la seguridad que siempre me ha dado. Por último, aunque no forman parte 'oficial' de este trabajo, tengo que dar las gracias a María y a Álvaro también, por todo su apoyo. Siempre han estado ahí cuando he necesitado una mano o simplemente charlar, y también son una parte importante de este trabajo.I would like to switch back to English in just this paragraph to thank the Intelligent Robots and Systems Group (IRSg) for all the help they gave me during my stay in Lisbon. It was an amazing experience for me I will always remember it. I want to thank Pedro Lima for the opportunity to spend my stay there, and, above all, I would like to thank Meysam Basiri for his support and mentorship. Muito obrigado! Ahora quiero hablar de mi familia. Sin ellos, definitivamente nada de lo que he realizado hasta ahora habría sido posible. Siempre han estado entre bambalinas para levantarme cuando me he caído y para abrazarme cuando más lo he necesitado. Quiero agradecer a mis padres, a Juanjo y a Begoña, por todo el amor, el apoyo y la guía que han volcado sobre mí durante todo este tiempo. Siempre me han dado lo mejor de sí mismos y no tengo palabras para describir todo lo que les agradezco lo que han hecho y siguen haciendo por mí. A Guille, mi hermano, quiero darle las gracias también por todo su cariño, su ayuda, las risas que siempre compartimos y, sin duda alguna, por aguantarme todo este tiempo. Quiero darles las gracias a mis abuelos, a Mariano, a Julia, a Antonio y a Mercedes, por no darme otra cosa que no fuese su amor, por todo el orgullo que siempre me han demostrado y por apoyarme incondicionalmente en cada decisión que he tomado hasta ahora. No me quiero olvidar de mis tíos y de mis primos, haciendo una mención especial a mi prima Paloma, por todo el cariño que siempre me han mostrado. Por último, qui...

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

et al. 2018

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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.

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On-Board Relative Bearing Estimation for Teams of Drones Using Sound

Cited by 44 publications

References 38 publications

Localization of emergency acoustic sources by micro aerial vehicles

Localization of emergency acoustic sources by micro aerial vehicles

Affect Display Recognition Through Tactile and Visual Stimuli in a Social Robot

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

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