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Publication Detailed Description
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), Proceedings
Year (definitive publication)
2014
Language
English
Country
United States of America
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Abstract
This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV’s field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.
Acknowledgements
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Keywords
Fields of Science and Technology Classification
- Physical Sciences - Natural Sciences
Funding Records
| Funding Reference | Funding Entity |
|---|---|
| Grant nr. 231143 | ECHORDRIVERWATCH FP7 project |
| LISBOA-01-0202- FEDER-024961 | ROBOSAMPLER QREN project |
