论文标题
基于信号的无人机链自组织用于地下探索
Signal-based self-organization of a chain of UAVs for subterranean exploration
论文作者
论文摘要
微型多旋转器是导航地下网络的有前途的机器人，但是在地下保持无线电连接是具有挑战性的。在本文中，我们引入了一种称为U链（用于地下链）的分布式算法，该算法在勘探无人机和操作员之间协调了一系列飞行机器人。我们的算法仅使用两个连续机器人之间的信号质量的测量以及基于光流传感器的接地速度的估计。我们在形式上和模拟中评估我们的方法，并用3个真实的微型二次运动器（12 x 12 cm）和一个基站描述了实验结果。
Miniature multi-rotors are promising robots for navigating subterranean networks, but maintaining a radio connection underground is challenging. In this paper, we introduce a distributed algorithm, called U-Chain (for Underground-chain), that coordinates a chain of flying robots between an exploration drone and an operator. Our algorithm only uses the measurement of the signal quality between two successive robots as well as an estimate of the ground speed based on an optic flow sensor. We evaluate our approach formally and in simulation, and we describe experimental results with a chain of 3 real miniature quadrotors (12 by 12 cm) and a base station.
