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
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12/1
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 Advice errors are due to outdated or wrong information associated to the landmarks.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 Advice errors are due to outdated or wrong information associated to the landmarks.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.
U2 - 10.1109/GCWkshps45667.2019.9024394
DO - 10.1109/GCWkshps45667.2019.9024394
M3 - Conference contribution
AN - SCOPUS:85082301940
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 -