In this paper, an online distributed target estimation for a swarm of Unmanned Aerial Vehicles in formation flight is considered. In particular, a flocking algorithm is employed to handle the formation task, while a Distributed Kalman Filter in the Information form is used to perform the estimate of a mobile target state. Software-In-The-Loop simulations are carried on in the ROS/Gazebo environment to illustrate the coupling between the formation and the estimation tasks. Moreover, the influence of swarm connectivity in the estimation process is analyzed, showing the benefits of information fusion.

Design and SITL Performance of an online Distributed Target Estimation for UAV Swarm / Lizzio, FAUSTO FRANCESCO; Primatesta, Stefano; Guo, Haoyu; Guglieri, Giorgio. - (2022). (Intervento presentato al convegno 12th EASN International Conference on Innovation in Aviation and Space for opening New Horizons tenutosi a Barcelona, Spain nel October 18-21, 2022).

Design and SITL Performance of an online Distributed Target Estimation for UAV Swarm

Fausto Francesco Lizzio;Stefano Primatesta;Haoyu Guo;Giorgio Guglieri
2022

Abstract

In this paper, an online distributed target estimation for a swarm of Unmanned Aerial Vehicles in formation flight is considered. In particular, a flocking algorithm is employed to handle the formation task, while a Distributed Kalman Filter in the Information form is used to perform the estimate of a mobile target state. Software-In-The-Loop simulations are carried on in the ROS/Gazebo environment to illustrate the coupling between the formation and the estimation tasks. Moreover, the influence of swarm connectivity in the estimation process is analyzed, showing the benefits of information fusion.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2976694