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Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach

In this work, the problem of the cooperative visual-based SLAM for the class of multi-UA systems that integrates a lead agent has been addressed. In these kinds of systems, a team of aerial robots flying in formation must follow a dynamic lead agent, which can be another aerial robot, vehicle or eve...

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Autores principales: Trujillo, Juan-Carlos, Munguia, Rodrigo, Guerra, Edmundo, Grau, Antoni
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6308766/
https://www.ncbi.nlm.nih.gov/pubmed/30513949
http://dx.doi.org/10.3390/s18124243
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author Trujillo, Juan-Carlos
Munguia, Rodrigo
Guerra, Edmundo
Grau, Antoni
author_facet Trujillo, Juan-Carlos
Munguia, Rodrigo
Guerra, Edmundo
Grau, Antoni
author_sort Trujillo, Juan-Carlos
collection PubMed
description In this work, the problem of the cooperative visual-based SLAM for the class of multi-UA systems that integrates a lead agent has been addressed. In these kinds of systems, a team of aerial robots flying in formation must follow a dynamic lead agent, which can be another aerial robot, vehicle or even a human. A fundamental problem that must be addressed for these kinds of systems has to do with the estimation of the states of the aerial robots as well as the state of the lead agent. In this work, the use of a cooperative visual-based SLAM approach is studied in order to solve the above problem. In this case, three different system configurations are proposed and investigated by means of an intensive nonlinear observability analysis. In addition, a high-level control scheme is proposed that allows to control the formation of the UAVs with respect to the lead agent. In this work, several theoretical results are obtained, together with an extensive set of computer simulations which are presented in order to numerically validate the proposal and to show that it can perform well under different circumstances (e.g., GPS-challenging environments). That is, the proposed method is able to operate robustly under many conditions providing a good position estimation of the aerial vehicles and the lead agent as well.
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spelling pubmed-63087662019-01-04 Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach Trujillo, Juan-Carlos Munguia, Rodrigo Guerra, Edmundo Grau, Antoni Sensors (Basel) Article In this work, the problem of the cooperative visual-based SLAM for the class of multi-UA systems that integrates a lead agent has been addressed. In these kinds of systems, a team of aerial robots flying in formation must follow a dynamic lead agent, which can be another aerial robot, vehicle or even a human. A fundamental problem that must be addressed for these kinds of systems has to do with the estimation of the states of the aerial robots as well as the state of the lead agent. In this work, the use of a cooperative visual-based SLAM approach is studied in order to solve the above problem. In this case, three different system configurations are proposed and investigated by means of an intensive nonlinear observability analysis. In addition, a high-level control scheme is proposed that allows to control the formation of the UAVs with respect to the lead agent. In this work, several theoretical results are obtained, together with an extensive set of computer simulations which are presented in order to numerically validate the proposal and to show that it can perform well under different circumstances (e.g., GPS-challenging environments). That is, the proposed method is able to operate robustly under many conditions providing a good position estimation of the aerial vehicles and the lead agent as well. MDPI 2018-12-03 /pmc/articles/PMC6308766/ /pubmed/30513949 http://dx.doi.org/10.3390/s18124243 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Trujillo, Juan-Carlos
Munguia, Rodrigo
Guerra, Edmundo
Grau, Antoni
Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title_full Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title_fullStr Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title_full_unstemmed Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title_short Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach
title_sort visual-based slam configurations for cooperative multi-uav systems with a lead agent: an observability-based approach
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6308766/
https://www.ncbi.nlm.nih.gov/pubmed/30513949
http://dx.doi.org/10.3390/s18124243
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