000191181 001__ 191181
000191181 005__ 20190316235753.0
000191181 037__ $$aCONF
000191181 245__ $$aAudio-based Relative Positioning System for Multiple Micro Air Vehicle Systems
000191181 269__ $$a2013
000191181 260__ $$c2013
000191181 336__ $$aConference Papers
000191181 520__ $$aEmploying a group of independently controlled flying micro air vehicles (MAVs) for aerial coverage missions, instead of a single flying robot, increases the robustness and efficiency of the missions. Designing a group of MAVs requires addressing new challenges, such as inter-robot collision avoidance and formation control, where individual's knowledge about the relative location of their local group members is essential. A relative positioning system for a MAV needs to satisfy severe constraints in terms of size, weight, processing power, power consumption, three-dimensional coverage and price. In this paper we present an on-board audio based system that is capable of providing individuals with relative positioning information of their neighbouring sound emitting MAVs. We propose a method based on coherence testing among signals of a small onboard microphone array to obtain relative bearing measurements, and a particle filter estimator to fuse these measurements with information about the motion of robots throughout time to obtain the desired relative location estimates. A method based on fractional Fourier transform (FrFT) is used to identify and extract sounds of simultaneous chirping robots in the neighbourhood. Furthermore, we evaluate our proposed method in a real world experiment with three simultaneously flying micro air vehicles.
000191181 6531_ $$aAerial Robotics
000191181 700__ $$0243236$$aBasiri, Meysam$$g198271
000191181 700__ $$0245142$$aSchill, Felix$$g210322
000191181 700__ $$0240742$$aFloreano, Dario$$g111729
000191181 700__ $$aLima, Pedro
000191181 7112_ $$aRobotics: Science and Systems RSS2013$$cBerlin, Germany$$dJune 24-28, 2013
000191181 8564_ $$uhttp://www.roboticsproceedings.org/rss09/p02.html$$zURL
000191181 8564_ $$s846180$$uhttps://infoscience.epfl.ch/record/191181/files/p02_3.pdf$$yn/a$$zn/a
000191181 909C0 $$0252161$$pLIS$$xU10370
000191181 909CO $$ooai:infoscience.tind.io:191181$$pconf$$pSTI$$qGLOBAL_SET
000191181 917Z8 $$x198271
000191181 917Z8 $$x255330
000191181 937__ $$aEPFL-CONF-191181
000191181 973__ $$aOTHER$$rREVIEWED$$sPUBLISHED
000191181 980__ $$aCONF