A cooperative monitoring technique using visually servoed drones

Author

Andreetto, Marco ; Pacher, Matteo ; Fontanelli, Daniele ; Macii, David

Author_Institution

Dept. of Ind. Eng., Univ. of Trento, Trento, Italy

fYear

2015

fDate

9-10 July 2015

Firstpage

244

Lastpage

249

Abstract

This paper describes a distributed control and estimation technique aimed at optimizing the ability of a team of Unmanned Aerial Vehicles (UAVs) to detect and to locate a given target. The proposed algorithm relies on both visual servoing and a consensus scheme. Due to its flexibility, it can be potentially used in a variety of environmental, energy or structural monitoring applications. The general idea has been validated through simulations based on realistic parameter values.

Keywords

autonomous aerial vehicles; computerised monitoring; distributed control; estimation theory; mobile robots; multi-robot systems; object detection; robot vision; visual servoing; UAVs; consensus scheme; cooperative monitoring technique; distributed control; estimation technique; target detection; unmanned aerial vehicles; visually servoed drones; Cameras; Drones; Estimation; Global Positioning System; Monitoring; Uncertainty; Visual servoing; Unmanned Aerial Vehicle (UAV); distributed control; environmental monitoring; position estimation; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Environmental, Energy and Structural Monitoring Systems (EESMS), 2015 IEEE Workshop on

Conference_Location

Trento

Print_ISBN

978-1-4799-8214-1

Type

conf

DOI

10.1109/EESMS.2015.7175885

Filename

7175885