2020/03/09 by Pierre Laclau, Vladislav Tempez, Laclau, Pierre +7
Engineering · Computer Science · #Indoor and Outdoor Localization Technologies #Distributed Control Multi-Agent Systems #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2003.04409
Miniature multi-rotors are promising robots for navigating subterranean\nnetworks, but maintaining a radio connection underground is challenging. In\nthis paper, we introduce a distributed algorithm, called U-Chain (for\nUnderground-chain), that coordinates a chain of flying robots between an\nexploration drone and an operator. Our algorithm only uses the measurement of\nthe signal quality between two successive robots as well as an estimate of the\nground speed based on an optic flow sensor. We evaluate our approach formally\nand in simulation, and we describe experimental results with a chain of 3 real\nminiature quadrotors (12 by 12 cm) and a base station.\n