Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A Multiple UAV System for Vision-Based Search and Localization
University of California, Berkeley, CA, USA.
University of California, Berkeley, CA, USA.
University of California, Berkeley, CA, USA.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
Vise andre og tillknytning
2008 (engelsk)Rapport (Annet vitenskapelig)
Abstract [en]

The contribution of this paper is an experimentally verified real-time algorithm for combined probabilistic search and track using multiple unmanned aerial vehicles (UAVs). Distributed data fusion provides a framework for multiple sensors to search for a target and accurately estimate its position. Vision based sensing is employed, using fixed downward-looking cameras. These sensors are modeled to include vehicle state uncertainty and produce an estimate update regardless of whether the target is detected in the frame or not. This allows for a single framework for searching or tracking, and requires non-linear representations of the target position probability density function (PDF) and the sensor model. While a grid-based system for Bayesian estimation was used for the flight demonstrations, the use of a particle filter solution has also been examined.

Multi-aircraft flight experiments demonstrate vision-based localization of a stationary target with estimated error covariance on the order of meters. This capability for real-time distributed estimation will be a necessary component for future research in information-theoretic control.

sted, utgiver, år, opplag, sider
Linköping: Linköping University Electronic Press, 2008. , s. 9
Serie
LiTH-ISY-R, ISSN 1400-3902 ; 2865
Emneord [en]
Bayes methods, Aerospace control, Aircraft, Cameras, Particle filtering
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-56188ISRN: LiTH-ISY-R-2865OAI: oai:DiVA.org:liu-56188DiVA, id: diva2:316982
Tilgjengelig fra: 2010-04-30 Laget: 2010-04-30 Sist oppdatert: 2014-10-01bibliografisk kontrollert

Open Access i DiVA

fulltekst(976 kB)526 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 976 kBChecksum SHA-512
790a4a3e5dae3fb7781fde27115ac1cff846953f4988bc9631655d0249c7c3e9952f8dafe32ee49470a08a80b487896297ccc4cba0419d1b0030f902055ab26d
Type fulltextMimetype application/pdf

Søk i DiVA

Av forfatter/redaktør
Törnqvist, David
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 526 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 274 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf