000212951 001__ 212951
000212951 005__ 20190812205852.0
000212951 0247_ $$2doi$$a10.1109/IROS.2015.7354053
000212951 037__ $$aCONF
000212951 245__ $$aReciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection
000212951 269__ $$a2015
000212951 260__ $$c2015
000212951 336__ $$aConference Papers
000212951 520__ $$aIn this paper we present a collision avoidance system based on visual detection. Our hardware consists of a Hummingbird quadrotor equipped with a large red marker with two built-in fish-eye cameras. Fusion of the measurements from the two cameras is done using a Gaussian-mixture probability hypothesis density filter, which allows for tracking several aircrafts at the same time. Our collision avoidance algorithm is based on navigation functions designed to cope with cameras characterized by limited field of view. Its mathematical correctness has been proven in a former paper. The collision avoidance maneuver is performed without the vehicles explicitly exchanging information via communication but instead relying solely on on-board sensors. Our system has been validated in an indoor space with four different collision scenarios. Trajectory data was recorded with an external motion capture system and demonstrate good robustness against sensing noise.
000212951 700__ $$0246514$$g178296$$aRoelofsen, Steven Adriaan
000212951 700__ $$0241784$$g105245$$aGillet, Denis
000212951 700__ $$0241071$$g105782$$aMartinoli, Alcherio
000212951 7112_ $$dSeptember 28 - October 2, 2015$$cHamburg, Germany$$aInternational Conference on Intelligent Robots and Systems
000212951 8564_ $$zPreprint$$yPreprint$$uhttps://infoscience.epfl.ch/record/212951/files/IROS_2015_article_camera_ready.pdf$$s934393
000212951 8564_ $$uhttps://infoscience.epfl.ch/record/212951/files/video.mp4$$s9364876
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000212951 909C0 $$pREACT$$0252406$$xUS09295
000212951 909CO $$qGLOBAL_SET$$pconf$$pSTI$$pENAC$$ooai:infoscience.tind.io:212951
000212951 917Z8 $$x178296
000212951 917Z8 $$x178296
000212951 917Z8 $$x178296
000212951 937__ $$aEPFL-CONF-212951
000212951 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000212951 980__ $$aCONF