Uijt de Haag, Maarten (TU Berlin)

Urban Swarm Navigation Exploiting sUAS Collaboration and Cognition

Scheduled for presentation during the Regular Session "Biologically Inspired UAS" (WeB2), Wednesday, June 22, 2022, 16:50−17:10, Bokar

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper focusses on advanced absolute and relative navigation methods for swarms and swarm members for urban operations and discusses the development of the theory and algorithms of a novel absolute and relative pose and velocity estimation approach based on the principles of cognition (i.e., appropriate and adapted actions based on perception and knowledge) and collaboration (i.e., improved ability to reason and interact based on information exchange and spatial distribution) between the swarm members. This paper outlines the underlying methodology, first simulation results, and the platform hardware components (three multi-copters and one ground station). It furthermore analyses and discusses the navigation performance using sUAS flight test data collected in an open-sky and simulations in an urban environment.