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Authors: Thomas Chaffre 1 ; Kevin Tudal 1 ; Sylvain Bertrand 2 and Lionel Prevost 1

Affiliations: 1 Learning, Data and Robotics Lab, ESIEA, Paris and France ; 2 ONERA - The French Aerospace Lab, Palaiseau and France

Keyword(s): Aerial Robotics, Contact based Navigation, Dot-painting.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the initial positioning of the MAV with respect to the wall and to deal with walls composed of multiple segments. This method is based on an online estimation algorithm that makes use of information of physical contacts detected by the drone during the flight to improve the positioning accuracy of the painted dots. Simulation results are presented to assess quantitatively the efficiency of the proposed approaches.

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Paper citation in several formats:
Chaffre, T.; Tudal, K.; Bertrand, S. and Prevost, L. (2019). Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 51-60. DOI: 10.5220/0007838900510060

@conference{icinco19,
author={Thomas Chaffre. and Kevin Tudal. and Sylvain Bertrand. and Lionel Prevost.},
title={Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2019},
pages={51-60},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007838900510060},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle
SN - 978-989-758-380-3
IS - 2184-2809
AU - Chaffre, T.
AU - Tudal, K.
AU - Bertrand, S.
AU - Prevost, L.
PY - 2019
SP - 51
EP - 60
DO - 10.5220/0007838900510060
PB - SciTePress

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