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Proposal of a visual positioning architecture for master-slave autonomous UAV applications

2023Conference object Open access
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dc.contributor.authorRech, Lucas Coradin
dc.contributor.authorBonzatto Junior, Luciano
dc.contributor.authorBerger, Guido
dc.contributor.authorLima, José
dc.contributor.authorCantieri, Álvaro R.
dc.contributor.authorWehrmeister, Marco Aurélio
dc.date.accessioned2023-03-08T10:45:34Z
dc.date.available2023-03-08T10:45:34Z
dc.date.issued2023
dc.description.abstractAutonomous UAVs offer advantages in industrial, agriculture, environment inspection, and logistics applications. Sometimes the use of cooperative UAVs is important to solve specific demands or achieve productivity gain in these applications. An important technical challenge is the precise positioning between two or more UAVs in a cooperative task flight. Some techniques provide solutions, like the GNSS positioning, visual and LIDAR slam, and computer vision intelligent algorithms, but all these techniques present limitations that must be solved to work properly in specific environments. The proposal of new cooperative position methods is important to face these challenges. The present work proposes an evaluation of a visual relative positioning architecture between two small UAV multi-rotor aircraft working in a master-slave operation, based on an Augmented Reality tag tool. The simulation results obtained absolute error measurements lower than 0.2 cm mean and 0.01 standard deviation for X, Y and Z directions. Yaw measurements presented an absolute error lower than 0.5 ∘ C with a 0.02–5 ∘ C standard deviation. The real-world experiments executing autonomous flight with the slave UAV commanded by the master UAV achieved success in 8 of 10 experiment rounds, proving that the proposed architecture is a good approach to building cooperative master-slave UAV applications.pt_PT
dc.description.sponsorshipThe authors are grateful to the FCT - Foundation for Science and Technology, Portugal for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI - Research Centre in Digitalization and Intelligent Robotics (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021)pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationRech, Lucas Coradin; Junior, Luciano Bonzatto; Berger, Tim; Lima, José; Cantieri, Alvaro Rogério; Wehrmeister, Marco Aurélio (2023). Proposal of a visual positioning architecture for master-slave autonomous UAV applications. In 5th Iberian Robotics Conference, ROBOT 2022. Zaragoza. 590, p. 365-375pt_PT
dc.identifier.doi10.1007/978-3-031-21062-4_30pt_PT
dc.identifier.urihttp://hdl.handle.net/10198/27557
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringer
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectAutonomous cooperative UAVpt_PT
dc.subjectVisual UAV positioningpt_PT
dc.subjectAR Tag UAV positioningpt_PT
dc.subjectMaster-slave UAV architecturept_PT
dc.titleProposal of a visual positioning architecture for master-slave autonomous UAV applicationspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.citation.conferencePlaceZaragozapt_PT
oaire.citation.endPage375pt_PT
oaire.citation.startPage365pt_PT
oaire.citation.title5th Iberian Robotics Conference, ROBOT 2022pt_PT
oaire.citation.volume590pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
person.familyNameSzekir Berger
person.familyNameLima
person.givenNameGuido
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id931A-887B-D75D
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0002-4100-1494
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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