000217516 001__ 217516
000217516 005__ 20190331192701.0
000217516 0247_ $$2doi$$a10.1109/LRA.2016.2527833
000217516 037__ $$aARTICLE
000217516 245__ $$aOn-Board Relative Bearing Estimation for Teams of Drones Using Sound
000217516 269__ $$a2016
000217516 260__ $$bInstitute of Electrical and Electronics Engineers$$c2016
000217516 336__ $$aJournal Articles
000217516 520__ $$aIn a team of autonomous drones, individual knowledge about the relative location of teammates is essential. Existing relative positioning solutions for teams of small drones mostly rely on external systems such as motion tracking cameras or GPS satellites that might not always be accessible. In this letter, we describe an onboard solution to measure the 3-D relative direction between drones using sound as the main source of information. First, we describe a method to measure the directions of other robots from perceiving their engine sounds in the absence of self-engine noise. We then extend the method to use active acoustic signaling to obtain the relative directions in the presence of self-engine noise, to increase the detection range, and to discriminate the identity of robots. Methods are evaluated in real world experiments and a fully autonomous leader-following behavior is illustrated with two drones using the proposed system.
000217516 6531_ $$aAerial Robotics
000217516 6531_ $$aLocalization
000217516 6531_ $$aSwarms
000217516 6531_ $$aAerial
000217516 6531_ $$aRelative Positioning
000217516 6531_ $$aMulti Drone Systems
000217516 700__ $$0243236$$aBasiri, Meysam$$g198271
000217516 700__ $$0245142$$aSchill, Felix Stephan$$g210322
000217516 700__ $$aLima, Pedro
000217516 700__ $$0240742$$aFloreano, Dario$$g111729
000217516 773__ $$j1$$k2$$q820-827$$tIEEE Robotics and Automation Letters
000217516 8564_ $$uhttps://youtu.be/6zsuDVMSf3o$$zURL
000217516 8564_ $$s877791$$uhttps://infoscience.epfl.ch/record/217516/files/07403916.pdf$$yn/a$$zn/a
000217516 909C0 $$0252161$$pLIS$$xU10370
000217516 909CO $$ooai:infoscience.tind.io:217516$$pSTI$$particle$$qGLOBAL_SET
000217516 917Z8 $$x186171
000217516 917Z8 $$x186171
000217516 917Z8 $$x186171
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000217516 917Z8 $$x186171
000217516 917Z8 $$x255330
000217516 937__ $$aEPFL-ARTICLE-217516
000217516 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000217516 980__ $$aARTICLE