Cooperative Localization of Drones by using Interval Methods

In this paper, we address the problem of cooperative pose estimation [1] in a group of N unmanned aerial vehicles (UAV), each equipped with a camera that sees landmarks with known positions. The UAVs communicate, exchange poses and measure distances with neighbours and a base station. Our aim is to compute the pose domain of each robot assuming the errors on measurements are bounded.

[1]  Yaohong Qu,et al.  Cooperative localization against GPS signal loss in multiple UAVs flight , 2011 .

[2]  Luc Jaulin,et al.  Applied Interval Analysis , 2001, Springer London.

[3]  A. Ollero,et al.  Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms , 2004, DARS.

[4]  Karim Dahia,et al.  A Box Regularized Particle Filter for terrain navigation with highly non-linear measurements* , 2016 .

[5]  Camillo J. Taylor,et al.  A bounded uncertainty approach to multi-robot localization , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[6]  Philippe Bonnifait,et al.  Localization Confidence Domains via Set Inversion on Short-Term Trajectory , 2013, IEEE Transactions on Robotics.

[7]  Antonio Franchi,et al.  The flying hand: A formation of UAVs for cooperative aerial tele-manipulation , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[8]  Etienne Colle,et al.  Mobile robot localization by multiangulation using set inversion , 2013, Robotics Auton. Syst..

[9]  Frédéric Goualard,et al.  Revising Hull and Box Consistency , 1999, ICLP.

[10]  Jingjing Jiang,et al.  Shared-control for a UAV operating in the 3D space , 2015, 2015 European Control Conference (ECC).

[11]  Éric Marchand,et al.  Image-based UAV localization using interval methods , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[12]  Paolo Robuffo Giordano,et al.  Bearing rigidity maintenance for formations of quadrotor UAVs , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[13]  Edwin Olson,et al.  AprilTag 2: Efficient and robust fiducial detection , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  Kurt Konolige,et al.  Distributed Multirobot Exploration and Mapping , 2005, Proceedings of the IEEE.

[15]  John J. Leonard,et al.  Cooperative Localization for Autonomous Underwater Vehicles , 2009, Int. J. Robotics Res..

[16]  Stergios I. Roumeliotis,et al.  Observability-based consistent EKF estimators for multi-robot cooperative localization , 2011, Auton. Robots.

[17]  S. Gezici,et al.  Ranging in the IEEE 802.15.4a Standard , 2006, 2006 IEEE Annual Wireless and Microwave Technology Conference.

[18]  Jeffrey K. Uhlmann,et al.  General Decentralized Data Fusion With Covariance Intersection (CI) , 2001 .

[19]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Auton. Robots.

[20]  John J. Leonard,et al.  Cooperative Localization for Autonomous Underwater Vehicles , 2009, Int. J. Robotics Res..

[21]  Robert B Davis,et al.  Applying Cooperative Localization to Swarm UAVS Using an Extended Kalman Filter , 2014 .

[22]  Vincenzo Lippiello,et al.  Mixed-Initiative Planning and Execution for Multiple Drones in Search and Rescue Missions , 2015, ICAPS.

[23]  Luc Jaulin,et al.  Cooperative localization of underwater robots with unsynchronized clocks , 2013 .

[24]  Stergios I. Roumeliotis,et al.  Distributed multirobot localization , 2002, IEEE Trans. Robotics Autom..

[25]  Isabelle Fantoni,et al.  Cooperative Localization with Reliable Confidence Domains Between Vehicles Sharing GNSS Pseudoranges Errors with No Base Station , 2017, IEEE Intelligent Transportation Systems Magazine.

[26]  Eric Walter,et al.  Set inversion via interval analysis for nonlinear bounded-error estimation , 1993, Autom..

[27]  Alex M. Andrew,et al.  Applied Interval Analysis: With Examples in Parameter and State Estimation, Robust Control and Robotics , 2002 .

[28]  Camillo J. Taylor,et al.  A bounded uncertainty approach to cooperative localization using relative bearing constraints , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[29]  Luc Jaulin,et al.  Contractor programming , 2009, Artif. Intell..