Non-Centralized Navigation for Source Localization by Cooperative UAVs
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through ad-hoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fashion. The collected data are disseminated through the network via multi-hops, therefore being subject to latency. Since not all the paths are equal in terms of information gathering rewards, the motion planning is formulated as a minimization of the uncertainty of the source position under UAV kinematic and anti-collision constraints and performed by 3D non-linear programming. The proposed analysis takes into account non-line-of-sight (NLOS) channel conditions as well as measurement age caused by the latency constraints in communication.
Code (0)
등록된 구현이 없습니다.
Tasks
DiversityMotion PlanningSimilar Papers 제목 키워드 기반
DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems
Cooperative Simultaneous Localization and Mapping (C-SLAM) enables multiple agents to work together in mapping unknown environments while simultaneously estimating their own positions. This approach enhances robustness, …
Autonomous NavigationCollision AvoidanceSimultaneous Localization and MappingUAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA …
GPUCooperative system of emission source localization based on SDF
Efficient and precise location of emission sources in an urbanized environment is very important in electronic warfare. Therefore, unmanned aerial vehicles (UAVs) are increasingly used for such tasks. In this paper, we p…
Decentralized Semantic Communication and Cooperative Tracking Control for a UAV Swarm over Wireless MIMO Fading Channels
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multipl…
Semantic CommunicationDecentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization sys…