Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments

K. Yakovlev; Khithov V.; Loginov M.; Petrov A.

?

Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments

P. 49–56.

Яковлев К. С., Khithov V., Loginov M., Petrov A.

The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation is based on ROS framework. Custom implementation of EKF-based map building algorithm is used to solve marker detection and map building task.

Язык: английский

Текст на другом сайте

Ключевые слова: SLAM intelligent control systems distributed architecture 4D/RCS visual navigation marker detection map building ROS AR.Drone

В книге

Intelligent Systems'2014 - Proceedings of the 7th IEEE International Conference Intelligent Systems IS'2014, September 24-26, 2014, Warsaw, Poland, Volume 2: Tools, Architectures, Systems, Applications

Т. 323. , Springer, 2015.

CautiousBug path planning algorithm package for ROS Noetic

Мишенин Р. М., Eryomin A., Tsoy T. и др., , in: ИНФОРМАЦИОННЫЕ ТЕХНОЛОГИИ И ТЕХНИЧЕСКИЕ СРЕДСТВА УПРАВЛЕНИЯ (ICCT-2024).: М.: Институт проблем управления им. В.А. Трапезникова РАН, 2024. P. 184–186.

Добавлено: 22 апреля 2026 г.

Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Мишенин Р. М., Eryomin A., Tsoy T. и др., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. Ch. 51 P. 1–4.

Добавлено: 28 мая 2025 г.

Evaluation of Topological Mapping Methods in Indoor Environments

Kirill Muravyev, Яковлев К. С., IEEE Access 2023 Vol. 11 P. 132683–132698

Добавлено: 19 марта 2024 г.

Comparison of Monocular ROS-Based Visual SLAM Methods

Safarova L., Abbyasov B., Tsoy T. и др., , in: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings.: Springer, 2022. P. 81–92.

Добавлено: 31 января 2023 г.

Navigation in Contour-Drawn Scenes Using Augmented Reality

Савада Т., Mendoza Arvizu A., Фаршчи М. и др., i-Perception 2022 Vol. 13 No. 1 P. 1–4

Добавлено: 2 февраля 2022 г.

Partially unknown environment exploration algorithm for a mobile robot

Zakiev A., Lavrenov R., Магид Е. А. и др., Journal of Advanced Research in Dynamical and Control Systems 2019 Vol. 11 No. 8 P. 1743–1753

Добавлено: 10 октября 2021 г.

Map-Merging Algorithms for Visual SLAM: Feasibility Study and Empirical Evaluation

Bokovoy A., Muravyev K., Яковлев К. С., , in: Artificial Intelligence. RCAI 2020.: Switzerland: Springer, 2020. P. 46–60.

Добавлено: 2 ноября 2020 г.

Intelligent Systems Reference Library

Springer, 2020.

Добавлено: 25 августа 2020 г.

Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation

Bokovoy A., Яковлев К. С., , in: Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings.: Springer, 2018. P. 23–33.

Добавлено: 13 августа 2019 г.

VinySLAM: An indoor SLAM method for low-cost platforms based on the Transferable Belief Model

Кринкин К. В., Huletski A., Kartashov D., , in: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.: [б.и.], 2017. P. 6770–6776.

Добавлено: 4 февраля 2019 г.

EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017

[б.и.], 2017.

Добавлено: 4 февраля 2019 г.

2D SLAM Quality Evaluation Methods

Filatov A., Filatov A., Кринкин К. В. и др., , in: Proceedings of the 21st Conference of Open Innovations Association FRUCT, University of Helsinki, Helsinki, Finland.: [б.и.], 2017. P. 120–126.

Добавлено: 4 февраля 2019 г.

Original Loop-closure Detection Algorithm for Monocular vSLAM

Bokovoy A., Яковлев К. С., , in: Analysis of Images, Social Networks and Texts. 6th International Conference, 2017, Revised Selected PapersVol. 10716.: Cham: Springer, 2018. P. 210–220.

Добавлено: 28 сентября 2018 г.

Automatic Path Planning for an Unmanned Drone with Constrained Flight Dynamics

Яковлев К. С., Makarov D., Scientific and Technical Information Processing 2015 Vol. 42 No. 5 P. 347–358

Добавлено: 17 июля 2017 г.

2015 5th International Workshop on Computer Science and Engineering: Information Processing and Control Engineering, WCSE 2015.Chengdu : Science and Engineering Institute, 2015

Maode M., Chengdu: Science and Engineering Institute, 2015.

Добавлено: 17 марта 2016 г.

Multilayer cognitive architecture for UAV control

Emel’yanov S., Makarov D., Панов А. И. и др., Cognitive Systems Research 2016 Vol. 39 P. 58–72

Добавлено: 9 февраля 2016 г.