Work

Poster Cooperative UAV Sensor Fusion for Precision Localization and Navigation in Load Transport

Year: 2024

Type: conference-paper

Abstract: Cooperative UAV transport operations in GPS-denied environments pose significant challenges in localization, coordination, and payload stability. This paper introduces a vision-based Leader-Follower drone system using MAVROS and depth cameras for real-time pose estimation and control. The leader transmits pose and velocity updates to the follower, ensuring synchronized movements. The system maintained a 50 Hz update rate, achieving 28 FPS, 12 ms latency, and 1.2 cm position error on a straight path. The 3-DEE system effectively managed payload-induced attitude variations with low vibration levels and improved speed accuracy. These results confirm the system's robustness for precise localization and stable cooperative UAV transport.

Source: ACM Conference on Embedded Networked Sensor Systems (SenSys)

DOI: 10.1145/3666025.3699425

Authors: Alice James, Endrowednes Kuantama, Avishkar Seth, Richard Han, Subhas Mukhopadhyay

Institution: Macquarie University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: bronze

OpenAlex ID: W4404034852

FWCI:

Cites: 2

Cited by:

Related to: 10