Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle

Thomas Chaffre, Kevin Tudal, Sylvain Bertrand, Lionel Prevost

2019

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.

Paper Citation

in Harvard Style

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, pages 51-60. DOI: 10.5220/0007838900510060

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Chaffre T.
AU - Tudal K.
AU - Bertrand S.
AU - Prevost L.
PY - 2019
SP - 51
EP - 60
DO - 10.5220/0007838900510060