Mutual Relative Localization in Heterogeneous Air-ground Robot Teams

Samet Güler, İ. Yıldırım, H. Alabay

2022

Abstract

Air and ground robots with distinct sensing characteristics can be combined in a team to accomplish demanding tasks robustly. A key challenge in such heterogeneous systems is the design of a local positioning methodology where each robot estimates its location with respect to its neighbors. We propose a filtering-based relative localization algorithm for air-ground teams composed of vertical-take-off-and-landing drones and unmanned aerial vehicles. The team members interact through a sensing/communication mechanism relying on onboard units, which results in a mutual connection between the air and ground components. Exploiting the supplementary features of omnidirectional distance sensors and monocular cameras, the framework can function in all environments without fixed infrastructures. Various simulation and experiment results verify the competency of our approach.

Paper Citation

in Harvard Style

Güler S., Yıldırım İ. and Alabay H. (2022). Mutual Relative Localization in Heterogeneous Air-ground Robot Teams. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 304-312. DOI: 10.5220/0011267800003271

in Bibtex Style

@conference{icinco22,
author={Samet Güler and İ. Yıldırım and H. Alabay},
title={Mutual Relative Localization in Heterogeneous Air-ground Robot Teams},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={304-312},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011267800003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Mutual Relative Localization in Heterogeneous Air-ground Robot Teams
SN - 978-989-758-585-2
AU - Güler S.
AU - Yıldırım İ.
AU - Alabay H.
PY - 2022
SP - 304
EP - 312
DO - 10.5220/0011267800003271