Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/25509
Author(s): | Silva, J. Mendonça, R. Marques, F. Rodrigues, P. Santana, P. Barata, J. |
Date: | 2014 |
Title: | Saliency-based cooperative landing of a multirotor aerial vehicle on an autonomous surface vehicle |
ISBN: | 978-1-4799-7397-2 |
DOI (Digital Object Identifier): | 10.1109/ROBIO.2014.7090550 |
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. |
Peerreviewed: | yes |
Access type: | Open Access |
Appears in Collections: | ISTAR-CRI - Comunicações a conferências internacionais |
Files in This Item:
File | Description | Size | Format | |
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conferenceobject_18842.pdf | Versão Aceite | 5,93 MB | Adobe PDF | View/Open |
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