Chapter

Experimental Robotics

Volume 54 of the series Springer Tracts in Advanced Robotics pp 105-115

Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation

  • David T. ColeAffiliated withARC Centre of Excellence for Autonomous Systems Australian Centre for Field Robotics, The University of Sydney
  • , Paul ThompsonAffiliated withARC Centre of Excellence for Autonomous Systems Australian Centre for Field Robotics, The University of Sydney
  • , Ali Haydar GöktoğanAffiliated withARC Centre of Excellence for Autonomous Systems Australian Centre for Field Robotics, The University of Sydney
  • , Salah SukkariehAffiliated withARC Centre of Excellence for Autonomous Systems Australian Centre for Field Robotics, The University of Sydney

* Final gross prices may vary according to local VAT.

Get Access

Summary

This paper presents the results of a number of demonstrations which illustrate the performance benefit which can be gained through the cooperation of a team of Unmanned Aerial Vehicles (UAVs). A team of Brumby MkIII UAVs performed a mission which required estimating the location of a number of ground features given some prior information. The UAVs dynamically plan their paths sharing (1) feature state information obtained from observations made by onboard vision sensors and (2) information based utilities which allow for globally optimal action planning. Three demonstrations were performed with varying levels of cooperation. The results are compared for each case and it is shown how, by enabling cooperation through the sharing of utilities, large performance increases can be gained.