Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

Narendra Limbu; Indrajit Ahuja; Harshal Sonar; Sudeep Solanki; Soniya Jain; Hoam Chung; Debraj Chakraborty

doi:10.1109/RoMoCo.2015.7219705

Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

Narendra Limbu, Indrajit Ahuja, Harshal Sonar, Sudeep Solanki, Soniya Jain, Hoam Chung, Debraj Chakraborty

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

4 Citations (Scopus)

Abstract

The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.

Original language	English
Title of host publication	2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Number of pages	6
ISBN (Electronic)	9781479970438
DOIs	https://doi.org/10.1109/RoMoCo.2015.7219705
Publication status	Published - 24 Aug 2015
Externally published	Yes
Event	International Workshop on Robot Motion and Control 2015 - Poznań University of Technology, Poznań, Poland Duration: 6 Jul 2015 → 8 Jul 2015 Conference number: 10th https://web.archive.org/web/20150113015500/http://romoco.put.poznan.pl:80/conference/

Workshop

Workshop	International Workshop on Robot Motion and Control 2015
Abbreviated title	RoMoCo 2015
Country/Territory	Poland
City	Poznań
Period	6/07/15 → 8/07/15
Internet address	https://web.archive.org/web/20150113015500/http://romoco.put.poznan.pl:80/conference/

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10.1109/RoMoCo.2015.7219705

Cite this

Limbu, N., Ahuja, I., Sonar, H., Solanki, S., Jain, S., Chung, H., & Chakraborty, D. (2015). Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation. In 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015 Article 7219705 IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/RoMoCo.2015.7219705

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title = "Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation",

abstract = "The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.",

author = "Narendra Limbu and Indrajit Ahuja and Harshal Sonar and Sudeep Solanki and Soniya Jain and Hoam Chung and Debraj Chakraborty",

year = "2015",

month = aug,

day = "24",

doi = "10.1109/RoMoCo.2015.7219705",

language = "English",

booktitle = "2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "International Workshop on Robot Motion and Control 2015, RoMoCo 2015 ; Conference date: 06-07-2015 Through 08-07-2015",

url = "https://web.archive.org/web/20150113015500/http://romoco.put.poznan.pl:80/conference/",

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Limbu, N, Ahuja, I, Sonar, H, Solanki, S, Jain, S, Chung, H & Chakraborty, D 2015, Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation. in 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015., 7219705, IEEE, Institute of Electrical and Electronics Engineers, International Workshop on Robot Motion and Control 2015, Poznań, Poland, 6/07/15. https://doi.org/10.1109/RoMoCo.2015.7219705

Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation. / Limbu, Narendra; Ahuja, Indrajit; Sonar, Harshal et al.
2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015. IEEE, Institute of Electrical and Electronics Engineers, 2015. 7219705.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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T1 - Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

AU - Limbu, Narendra

AU - Ahuja, Indrajit

AU - Sonar, Harshal

AU - Solanki, Sudeep

AU - Jain, Soniya

AU - Chung, Hoam

AU - Chakraborty, Debraj

N1 - Conference code: 10th

PY - 2015/8/24

Y1 - 2015/8/24

N2 - The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.

AB - The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.

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BT - 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - International Workshop on Robot Motion and Control 2015

Y2 - 6 July 2015 through 8 July 2015

ER -

Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

Abstract

Workshop

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