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dc.contributor.authorRajab, Fat-Hy Omar
dc.contributor.authorGüler, Samet
dc.contributor.authorShamma, Jeff S.
dc.date.accessioned2020-07-28T11:45:41Z
dc.date.available2020-07-28T11:45:41Z
dc.date.issued2020-07-21
dc.identifier.citationOmar Rajab, F.-H., Guler, S., & Shamma, J. S. (2020). Peer-to-Peer Localization via On-board Sensing for Aerial Flocking. 2020 17th International Conference on Ubiquitous Robots (UR). doi:10.1109/ur49135.2020.9144914
dc.identifier.isbn978-1-7281-5716-0
dc.identifier.issn2325-033X
dc.identifier.doi10.1109/UR49135.2020.9144914
dc.identifier.urihttp://hdl.handle.net/10754/664465
dc.description.abstractThe performance of mobile multi-robot systems dramatically depends on the mutual awareness of individual robots, particularly the positions of other robots. GPS and motion capture cameras are commonly used to acquire and ultimately communicate positions of robots. Such sensing schemes depend on infrastructure and restrict the capabilities of a multi-robot system, e.g., the robots cannot operate in both indoor and outdoor environments. Conversely, peer-to-peer localization algorithms can be used to free the robots from such infrastructures. In such systems, robots use on-board sensing to infer the positions of nearby robots. In this approach, it is essential to have a model of the motion of other robots. We introduce a flocking localization scheme that takes into account motion behavior exhibited by the other robots. The proposed scheme depends only on the robots’ on-board sensors and computational capabilities and yields a more accurate localization solution than the peer-to-peer localization algorithms that do not take into account the flocking behavior. We verify the performance of our scheme in simulations and demonstrate experiments on two unmanned aerial vehicles.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urlhttps://ieeexplore.ieee.org/document/9144914/
dc.relation.urlhttps://ieeexplore.ieee.org/document/9144914/
dc.relation.urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9144914
dc.rightsArchived with thanks to IEEE
dc.titlePeer-to-Peer Localization via On-board Sensing for Aerial Flocking
dc.typeConference Paper
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentElectrical Engineering
dc.contributor.departmentElectrical Engineering Program
dc.contributor.departmentRISC Laboratory
dc.conference.date22-26 June 2020
dc.conference.name2020 17th International Conference on Ubiquitous Robots (UR)
dc.conference.locationKyoto, Japan
dc.eprint.versionPost-print
dc.contributor.institutionAbdullah Gül University,Kayseri,Turkey
kaust.personRajab, Fat-Hy Omar
kaust.personShamma, Jeff S.
refterms.dateFOA2020-07-29T07:24:56Z
dc.date.published-online2020-07-21
dc.date.published-print2020-06


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