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Pfeiffer, S.U. (author), Munaro, Veronica (author), Li, S. (author), Rizzo, Alessandro (author), de Croon, G.C.H.E. (author)Relative localization is a key capability for autonomous robot swarms, and it is a substantial challenge, especially for small flying robots, as they are extremely restricted in terms of sensors and processing while other robots may be located anywhere around them in three-dimensional space. In this article, we generalize wireless ranging...journal article 2022
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van der Helm, Steven (author), Coppola, M. (author), McGuire, K.N. (author), de Croon, G.C.H.E. (author)We present a range-based solution for indoor relative localization by micro air vehicles (MAVs), achieving sufficient accuracy for leader–follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We...journal article 2019
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Coppola, M. (author), McGuire, K.N. (author), Scheper, K.Y.W. (author), de Croon, G.C.H.E. (author)To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height,...journal article 2018