By Topic

Following a quadrotor with another quadrotor using onboard vision

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jimenez Lugo, J. ; Cognitive Syst., Univ. of Tubingen, Tubingen, Germany ; Masselli, A. ; Zell, A.

We consider a leader-following problem with two flying robots with different sensor configurations. The follower is equipped with a camera to detect the leader robot. The platforms are based on the low-cost Parrot AR. Drone quadrotor modified for on-board sensing and computing. Our approach relies on detecting artificial passive markers on the leader quadrotor to compute the relative distance between the vehicles. We solve the perspective-n-point problem using an algorithm based on the inscribed angle theorem that runs efficiently on resource-limited platforms. We validate the position estimation algorithm and leader-following controllers with autonomously flown figures.

Published in:

Mobile Robots (ECMR), 2013 European Conference on

Date of Conference:

25-27 Sept. 2013