Collaborative localization and formation flying using distributed stereo-vision

Nathan Piasco (1) , Julien Marzat (1) , Martial Sanfourche (1)

1 ONERA, Université Paris Saclay (COmUE) [Palaiseau]

This paper considers collaborative stereo-vision as a mean of localization for a fleet of micro-air vehicles (MAV) equipped with monocular cameras, inertial measurement units and sonar sensors. A sensor fusion scheme using an extended Kalman filter is designed to estimate the positions and orienta-tions of all the vehicles from these distributed measurements. The estimation is completed by a formation control to maximize the overlapping fields of view of the vehicles. Experimental tests for the complete perception and control loop have been performed on multiple MAVs with centralized processing on a ROS ground station.

Mots clés: collaborative localization; formation control; micro-air vehicles; stereo-vision; Index Terms-collaborative localization

Domaines: Robotique [cs.RO]; Automatique / Robotique; Vision par ordinateur et reconnaissance de formes [cs.CV]

Nathan Piasco, Julien Marzat, Martial Sanfourche. Collaborative localization and formation flying using distributed stereo-vision. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. ⟨hal-02194156⟩