Skip to main content

State Estimation for Swarm UAVs Under Data Dropout Condition

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10984))

Included in the following conference series:

  • 3229 Accesses

Abstract

In this work, a method based on position predicting, velocity filtering and self adaptive parameter tunning is addressed for state estimation and control for swarm of mini unmanned aerial vehicles (UAVs), in order to deal with random noise and data dropout appeared during flights. Under conditions of random data dropout rates and communication latencies, the presented algorithm gives position prediction based on filtered velocity estimation and it fuses the prediction with sensor data. At the same time it corrects the prediction by the error between prediction and measurement of the previous step. The algorithm is designed for tracking mini UAVs with identical marker configuration, and the principles refered is in potential of serving to state estimation in various circumstances. Based on this localization algorithm, a cascade nonlinear control model is developed for swarm UAV control. This work contributes mainly to the object localization and control in a multi-agent system in which all the agents are considered to be in an identical form, hoping that this work will be the testbed for more complicated swarm robot control experiments. Comparison results of state estimation are presented by implementing experiments with or without data dropout.

H. Yu and W. Zhang—Equal contributors.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Giles, K., Giammarco, K.: Mission-based Architecture for Swarm Composability (MASC). Procedia Comput. Sci. 114, 57–64 (2017)

    Article  Google Scholar 

  2. Yatskin, D., Kalinov, I.: Principles of solving the space monitoring problem by multirotors swarm. In: International Conference on Engineering and Telecommunication (EnT), pp. 47–50 (2017)

    Google Scholar 

  3. Schneider, D.: Open season on drones? IEEE Spectr. 51(1), 32–33 (2014)

    Article  Google Scholar 

  4. Tanzi, T., Apvrille, L., Dugelay, J.L., et al.: UAVs for humanitarian missions: autonomy and reliability. In: Global Humanitarian Technology Conference, pp. 271–278. IEEE (2014)

    Google Scholar 

  5. Loayza, K., Lucas, P., Pelaez, E.: A centralized control of movements using a collision avoidance algorithm for a swarm of autonomous agents. In: IEEE Second Ecuador Technical Chapters Meeting, pp. 1–6. IEEE (2017)

    Google Scholar 

  6. Albani, D., Nardi, D., Trianni, V.: Field coverage and weed mapping by UAV swarms. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4319–4325. IEEE (2017)

    Google Scholar 

  7. Arpino, G., Morris, K., Nagavalli, S., Sycara, K.: Using information invariants to compare swarm algorithms and general multi-robot algorithms: a technical report. In: IEEE International Conference on Robotics and Automation (2018)

    Google Scholar 

  8. Wan, S., Lu, J., Fan, P.: Semi-centralized control for multi robot formation. In: International Conference on Robotics and Automation Engineering (ICRAE), pp. 31–36 (2017)

    Google Scholar 

  9. Xuan, P., Lesser, V.: Multi-agent policies: from centralized ones to decentralized ones. In: International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 1098–1105. ACM (2002)

    Google Scholar 

  10. Lupashin, S., Hehn, M., Mueller, M.W., Schoellig, A.P., Sherback, M., D’Andrea, R.: A platform for aerial robotics research and demonstration: the flying machine arena. Mechatronics 24(1), 41–54 (2014)

    Article  Google Scholar 

  11. Ledergerber, A., Hamer, M., D’Andrea, R.: A robot self-localization system using one-way ultra-wideband communication, Mechatronics, In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3131–3137 (2015)

    Google Scholar 

  12. Preiss, J.A., Honig, W., Sukhatme, G.S., Ayanian, N.: Crazyswarm: a large nano-quadcopter swarm. In: IEEE International Conference on Robotics and Automation, pp. 3299–3304 (2017)

    Google Scholar 

  13. Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: IEEE International Conference on Robotics and Automation, pp. 2520–2525 (2011). https://doi.org/10.1109/ICRA.2011.5980409

  14. Bitcraze. https://www.bitcraze.io/. Accessed 4 Oct 2017

Download references

Acknowledgement

This work was partially supported by the National Natural Science Foundation of China (Grant No. 51605282) and National Science and Technology Major Project.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Xinjun Sheng .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Yu, H., Zhang, W., Sheng, X., Dong, W. (2018). State Estimation for Swarm UAVs Under Data Dropout Condition. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_7

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-97586-3_7

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97585-6

  • Online ISBN: 978-3-319-97586-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics