On-board range-based relative localization for micro air vehicles in indoor leader–follower flight

• Published in: Autonomous robots Vol. 44; no. 3-4; pp. 415 - 441
• Main Authors: van der Helm, Steven, Coppola, Mario, McGuire, Kimberly N., de Croon, Guido C. H. E.
• Format: Journal Article
• Language: English
• Published: New York Springer US 01.03.2020; Springer Nature B.V
• Subjects: Accuracy; Aircraft; Artificial Intelligence; Broadband; Computer Imaging; Control; Engineering; Indoor environments; Localization; Maneuvers; Mechatronics; Micro air vehicles (MAV); Military helicopters; Parrots; Pattern Recognition and Graphics; Robotics; Robotics and Automation; Special Issue on Multi-Robot and Multi-Agent Systems; Ultrawideband; Vision; Yaw; Micro air vehicles; Autonomous flight; Indoor; Leader–follower; Relative localization

We present a range-based solution for indoor relative localization by micro air vehicles (MAVs), achieving sufficient accuracy for leader–follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accura...