Cooperative localization of unmanned aerial vehicles in ROS: the atlas node.

Kremer, Paul; Dentler, Jan; Kannan, Somasundar; Voos, Holger

Abstract

This paper is presenting the implementation and experimental validation of the cooperative robot localization framework "Atlas". For ease of application, Atlas is implemented as a package for the Robot Operating System (ROS). ATLAS is based on dynamic cooperative sensor fusion which optimizes the estimated pose with respect to noise, respective variance. This paper validates the applicability of Atlas by cooperatively localizing multiple real quadrotors using cameras and fiduciary markers.

Citation

KREMNER, P., DENTLER, J., KANNAN, S. and VOOS, H. 2017. Cooperative localization of unmanned aerial vehicles in ROS: the atlas node. In Proceedings of the 15th IEEE (Institute of Electrical and Electronics Engineers) International conference on industrial informatics 2017 (INDIN 2017), 24-26 July 2017, Emden, Germany. Piscataway: IEEE [online], pages 319-235. Available from: https://doi.org/10.1109/INDIN.2017.8104792

• Conference Name: 15th IEEE (Institute of Electrical and Electronics Engineers) International conference on industrial informatics 2017 (INDIN 2017)
• Conference Location: Emden, Germany
• Start Date: Jul 24, 2017
• End Date: Jul 26, 2017
• Acceptance Date: Feb 28, 2017
• Online Publication Date: Jul 26, 2017
• Publication Date: Nov 13, 2017
• Deposit Date: Nov 1, 2022
• Publicly Available Date: Nov 1, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 319-325
• Series ISSN: 2378-363X
• ISBN: 9781538608371
• DOI: https://doi.org/10.1109/INDIN.2017.8104792
• Keywords: Robot sensing systems; Cameras; Drones; Transforms; Standards; Electronic mail
• Public URL: https://rgu-repository.worktribe.com/output/1279781
• Publisher URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85041175232&doi=10.1109%2fINDIN.2017.8104792&partnerID=40&md5=4d3dd021a2fdeb5d238f31b1118ec542