Quality amplification of error prone navigation for swarms of micro aerial vehicles

Michel Barbeau; Joaquin Garcia-Alfaro; Evangelos Kranakis; Fillipe Santos

doi:10.1109/GCWkshps45667.2019.9024394

Quality amplification of error prone navigation for swarms of micro aerial vehicles

Michel Barbeau, Joaquin Garcia-Alfaro, Evangelos Kranakis, Fillipe Santos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. It is GPS-free. The MAVs find their way using cameras to identify a series of visual landmarks. The landmarks lead towards the destination. MAVs are unaware of the terrain and landmark locations. Landmarks hold a-priori information whose interpretation is prone to errors. We distinguish two types of errors: recognition and advice. Recognition errors are due to misinterpretation of sensed data or a-priori information, or confusion of objects. Advice errors are due to outdated or wrong information associated to the landmarks. The MAVs cooperate and exchange information wirelessly, to minimize the errors. Consequently, the swarm experiences data quality amplification and error reduction. Quality amplification is related to the number of MAVs. The solution effectively achieves an adaptive error tolerant navigation system.

Original language	English
Title of host publication	2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728109602
DOIs	https://doi.org/10.1109/GCWkshps45667.2019.9024394
Publication status	Published - 1 Dec 2019
Event	2019 IEEE Globecom Workshops, GC Wkshps 2019 - Waikoloa, United States Duration: 9 Dec 2019 → 13 Dec 2019

Publication series

Name	2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings

Conference

Conference	2019 IEEE Globecom Workshops, GC Wkshps 2019
Country/Territory	United States
City	Waikoloa
Period	9/12/19 → 13/12/19

Access to Document

10.1109/GCWkshps45667.2019.9024394

Cite this

Barbeau, M., Garcia-Alfaro, J., Kranakis, E., & Santos, F. (2019). Quality amplification of error prone navigation for swarms of micro aerial vehicles. In 2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings Article 9024394 (2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GCWkshps45667.2019.9024394

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abstract = "We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. It is GPS-free. The MAVs find their way using cameras to identify a series of visual landmarks. The landmarks lead towards the destination. MAVs are unaware of the terrain and landmark locations. Landmarks hold a-priori information whose interpretation is prone to errors. We distinguish two types of errors: recognition and advice. Recognition errors are due to misinterpretation of sensed data or a-priori information, or confusion of objects. Advice errors are due to outdated or wrong information associated to the landmarks. The MAVs cooperate and exchange information wirelessly, to minimize the errors. Consequently, the swarm experiences data quality amplification and error reduction. Quality amplification is related to the number of MAVs. The solution effectively achieves an adaptive error tolerant navigation system.",

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Barbeau, M, Garcia-Alfaro, J, Kranakis, E & Santos, F 2019, Quality amplification of error prone navigation for swarms of micro aerial vehicles. in 2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings., 9024394, 2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 2019 IEEE Globecom Workshops, GC Wkshps 2019, Waikoloa, United States, 9/12/19. https://doi.org/10.1109/GCWkshps45667.2019.9024394

Quality amplification of error prone navigation for swarms of micro aerial vehicles. / Barbeau, Michel; Garcia-Alfaro, Joaquin; Kranakis, Evangelos et al.
2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. 9024394 (2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Quality amplification of error prone navigation for swarms of micro aerial vehicles

AU - Barbeau, Michel

AU - Garcia-Alfaro, Joaquin

AU - Kranakis, Evangelos

AU - Santos, Fillipe

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Y1 - 2019/12/1

N2 - We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. It is GPS-free. The MAVs find their way using cameras to identify a series of visual landmarks. The landmarks lead towards the destination. MAVs are unaware of the terrain and landmark locations. Landmarks hold a-priori information whose interpretation is prone to errors. We distinguish two types of errors: recognition and advice. Recognition errors are due to misinterpretation of sensed data or a-priori information, or confusion of objects. Advice errors are due to outdated or wrong information associated to the landmarks. The MAVs cooperate and exchange information wirelessly, to minimize the errors. Consequently, the swarm experiences data quality amplification and error reduction. Quality amplification is related to the number of MAVs. The solution effectively achieves an adaptive error tolerant navigation system.

AB - We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. It is GPS-free. The MAVs find their way using cameras to identify a series of visual landmarks. The landmarks lead towards the destination. MAVs are unaware of the terrain and landmark locations. Landmarks hold a-priori information whose interpretation is prone to errors. We distinguish two types of errors: recognition and advice. Recognition errors are due to misinterpretation of sensed data or a-priori information, or confusion of objects. Advice errors are due to outdated or wrong information associated to the landmarks. The MAVs cooperate and exchange information wirelessly, to minimize the errors. Consequently, the swarm experiences data quality amplification and error reduction. Quality amplification is related to the number of MAVs. The solution effectively achieves an adaptive error tolerant navigation system.

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M3 - Conference contribution

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T3 - 2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings

BT - 2019 IEEE Globecom Workshops, GC Wkshps 2019 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE Globecom Workshops, GC Wkshps 2019

Y2 - 9 December 2019 through 13 December 2019

ER -

Quality amplification of error prone navigation for swarms of micro aerial vehicles

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