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3-D relative positioning sensor for indoor flying robots

Roberts, James ; Stirling, Timothy ; Zufferey, Jean-Christophe ; Floreano, Dario

In: Autonomous Robots, 2012, vol. 33, no. 1-2, p. 5-20

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    Titre
    • 3-D relative positioning sensor for indoor flying robots
    Auteur
    • Roberts, James. Ecole Polytechnique Fédérale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), Station 11, 1015, Lausanne, Switzerland
    • Stirling, Timothy. Ecole Polytechnique Fédérale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), Station 11, 1015, Lausanne, Switzerland
    • Zufferey, Jean-Christophe. Ecole Polytechnique Fédérale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), Station 11, 1015, Lausanne, Switzerland
    • Floreano, Dario. Ecole Polytechnique Fédérale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), Station 11, 1015, Lausanne, Switzerland
    Type de document
    • Postprint
    Langue
    • Anglais
    Publié dans
    • Autonomous Robots, 2012, vol. 33, no. 1-2, p. 5-20. Springer US; http://www.springer-ny.com
    Autre version électronique
    Identifiant OAI-PMH
    • oai:doc.rero.ch:311793
    Summary
    Swarms of indoor flying robots are promising for many applications, including searching tasks in collapsing buildings, or mobile surveillance and monitoring tasks in complex man-made structures. For tasks that employ several flying robots, spatial-coordination between robots is essential for achieving collective operation. However, there is a lack of on-board sensors capable of sensing the highly-dynamic 3-D trajectories required for spatial-coordination of small indoor flying robots. Existing sensing methods typically utilise complex SLAM based approaches, or absolute positioning obtained from off-board tracking sensors, which is not practical for real-world operation. This paper presents an adaptable, embedded infrared based 3-D relative positioning sensor that also operates as a proximity sensor, which is designed to enable inter-robot spatial-coordination and goal-directed flight. This practical approach is robust to varying indoor environmental illumination conditions and is computationally simple