TY - GEN
T1 - Joint Indoor Localization and Navigation of UAVs for Network Formation Control
AU - Guerra, Anna
AU - Dardari, Davide
AU - Djuric, Petar M.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a static user acting as a central unit whose main task is to acquire all the UAV measurements carrying position-dependent information and to estimate the UAV positions when there is no existing infrastructure for positioning. Subsequently, the user exploits the estimated positions as inputs for the navigation control with the aim of deploying the UAVs in a desired formation in space (formation shaping). The user plans the trajectory of each UAV in real time, guaranteeing a safe navigation in the presence of obstacles. The proposed algorithm guides the UAVs to their desired final locations with good accuracy.
AB - In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a static user acting as a central unit whose main task is to acquire all the UAV measurements carrying position-dependent information and to estimate the UAV positions when there is no existing infrastructure for positioning. Subsequently, the user exploits the estimated positions as inputs for the navigation control with the aim of deploying the UAVs in a desired formation in space (formation shaping). The user plans the trajectory of each UAV in real time, guaranteeing a safe navigation in the presence of obstacles. The proposed algorithm guides the UAVs to their desired final locations with good accuracy.
KW - Anchor-free localization
KW - UAV network
KW - formation shaping control
UR - https://www.scopus.com/pages/publications/85062994222
U2 - 10.1109/ACSSC.2018.8645291
DO - 10.1109/ACSSC.2018.8645291
M3 - Conference contribution
AN - SCOPUS:85062994222
T3 - Conference Record - Asilomar Conference on Signals, Systems and Computers
SP - 13
EP - 19
BT - Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
A2 - Matthews, Michael B.
PB - IEEE Computer Society
T2 - 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
Y2 - 28 October 2018 through 31 October 2018
ER -