Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport

Alice James; Endrowednes Kuantama; Avishkar Seth; Richard Han; Subhas Mukhopadhyay

doi:10.1145/3666025.3699425

Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport

Alice James, Endrowednes Kuantama, Avishkar Seth, Richard Han, Subhas Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

Abstract

Cooperative UAV transport operations in GPS-denied environments pose significant challenges in localization, coordination, and payload stability. This paper introduces a vision-based Leader-Follower drone system using MAVROS and depth cameras for real-time pose estimation and control. The leader transmits pose and velocity updates to the follower, ensuring synchronized movements. The system maintained a 50 Hz update rate, achieving 28 FPS, 12 ms latency, and 1.2 cm position error on a straight path. The 3-DEE system effectively managed payload-induced attitude variations with low vibration levels and improved speed accuracy. These results confirm the system's robustness for precise localization and stable cooperative UAV transport.

Original language	English
Title of host publication	SenSys '24
Subtitle of host publication	proceedings of the 2024 ACM Conference on Embedded Networked Sensor Systems
Place of Publication	New York
Publisher	Association for Computing Machinery
Pages	895-896
Number of pages	2
ISBN (Electronic)	9798400706974
DOIs	https://doi.org/10.1145/3666025.3699425
Publication status	Published - 4 Nov 2024
Event	22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024 - Hangzhou, China Duration: 4 Nov 2024 → 7 Nov 2024

Conference

Conference	22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024
Country/Territory	China
City	Hangzhou
Period	4/11/24 → 7/11/24

Keywords

Drone
Sensor Fusion
Pose
Payload
Localization

Access to Document

10.1145/3666025.3699425

Cite this

@inproceedings{eb56146556a14a30b3cbac9e0fcd5822,

title = "Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport",

abstract = "Cooperative UAV transport operations in GPS-denied environments pose significant challenges in localization, coordination, and payload stability. This paper introduces a vision-based Leader-Follower drone system using MAVROS and depth cameras for real-time pose estimation and control. The leader transmits pose and velocity updates to the follower, ensuring synchronized movements. The system maintained a 50 Hz update rate, achieving 28 FPS, 12 ms latency, and 1.2 cm position error on a straight path. The 3-DEE system effectively managed payload-induced attitude variations with low vibration levels and improved speed accuracy. These results confirm the system's robustness for precise localization and stable cooperative UAV transport.",

keywords = "Drone, Sensor Fusion, Pose, Payload, Localization",

author = "Alice James and Endrowednes Kuantama and Avishkar Seth and Richard Han and Subhas Mukhopadhyay",

year = "2024",

month = nov,

day = "4",

doi = "10.1145/3666025.3699425",

language = "English",

pages = "895--896",

booktitle = "SenSys '24",

publisher = "Association for Computing Machinery",

address = "United States",

note = "22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024 ; Conference date: 04-11-2024 Through 07-11-2024",

}

James, A , Kuantama, E , Seth, A , Han, R & Mukhopadhyay, S 2024, Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport. in SenSys '24: proceedings of the 2024 ACM Conference on Embedded Networked Sensor Systems. Association for Computing Machinery, New York, pp. 895-896, 22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024, Hangzhou, China, 4/11/24. https://doi.org/10.1145/3666025.3699425

Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport. / James, Alice ; Kuantama, Endrowednes ; Seth, Avishkar et al.
SenSys '24: proceedings of the 2024 ACM Conference on Embedded Networked Sensor Systems. New York: Association for Computing Machinery, 2024. p. 895-896.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

TY - GEN

T1 - Poster

T2 - 22nd ACM Conference on Embedded Networked Sensor Systems, SenSys 2024

AU - James, Alice

AU - Kuantama, Endrowednes

AU - Seth, Avishkar

AU - Han, Richard

AU - Mukhopadhyay, Subhas

PY - 2024/11/4

Y1 - 2024/11/4

N2 - Cooperative UAV transport operations in GPS-denied environments pose significant challenges in localization, coordination, and payload stability. This paper introduces a vision-based Leader-Follower drone system using MAVROS and depth cameras for real-time pose estimation and control. The leader transmits pose and velocity updates to the follower, ensuring synchronized movements. The system maintained a 50 Hz update rate, achieving 28 FPS, 12 ms latency, and 1.2 cm position error on a straight path. The 3-DEE system effectively managed payload-induced attitude variations with low vibration levels and improved speed accuracy. These results confirm the system's robustness for precise localization and stable cooperative UAV transport.

AB - Cooperative UAV transport operations in GPS-denied environments pose significant challenges in localization, coordination, and payload stability. This paper introduces a vision-based Leader-Follower drone system using MAVROS and depth cameras for real-time pose estimation and control. The leader transmits pose and velocity updates to the follower, ensuring synchronized movements. The system maintained a 50 Hz update rate, achieving 28 FPS, 12 ms latency, and 1.2 cm position error on a straight path. The 3-DEE system effectively managed payload-induced attitude variations with low vibration levels and improved speed accuracy. These results confirm the system's robustness for precise localization and stable cooperative UAV transport.

KW - Drone

KW - Sensor Fusion

KW - Pose

KW - Payload

KW - Localization

UR - https://www.scopus.com/pages/publications/85211767060

U2 - 10.1145/3666025.3699425

DO - 10.1145/3666025.3699425

M3 - Conference proceeding contribution

AN - SCOPUS:85211767060

SP - 895

EP - 896

BT - SenSys '24

PB - Association for Computing Machinery

CY - New York

Y2 - 4 November 2024 through 7 November 2024

ER -

Poster: Cooperative UAV sensor fusion for precision localization and navigation in load transport

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Keywords

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