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Distributed Vision-based Control of Teams of Aerial Robots

Event Date: June 30, 2015
Speaker: Eduardo Montijano
Speaker Affiliation: Professor ~ Centro Universitario de la Defensa
Zaragoza, Spain
Time: 10:30am
Location: EE 317
Contact Name: Professor Shreyas Sundaram
Contact Phone: 765-49-60406
Contact Email: sundara2@purdue.edu to meet with speaker

Abstract

In this talk I will address the problem of driving a team of quadrotors equipped with cameras to reach a desired formation in the absence of a global reference frame.  In the first part of the talk I will introduce a consensus-based distributed controller for kinematic agents that considers relative measurements, thus avoiding the need of a global frame.  The different orientations imply that the relative positions between pairs of agents are sensed differently for each of them.  Convergence to the desired configuration will be shown by comparing the system with time-varying orientations with the equivalent approach with fixed rotations, showing that their difference vanishes as time goes to infinity.

The second part of the talk will deal with the problem of computing the relative positions by means of vision sensors equipped onboard the quadrotors.  The talk will include a brief revision of the computer vision algorithms and structure from motion to estimate the relative pose estimation. I will also address the challenge of limited bandwidth and how the quadrotors can combine the visual information with the inertial measurement unit (IMU) to improve their estimations.

To conclude the talk, I will show the behavior of the whole system with the control and the vision put together.

Biography

Eduardo Montijano received M.Sc. and Ph.D. degrees from the Universidad de Zaragoza, Spain, in 2008 and 2012, respectively. He has been a visiting scholar at University of California San Diego, University of California Berkeley, and Boston University in the United States and at the Royal Institute of Technology in Stockholm, Sweden. He is currently a Professor at Centro Universitario de la Defensa in Zaragoza, Spain. His main research interests include distributed algorithms, cooperative control, and computer vision. His Ph.D. obtained the extraordinary award of the Universidad de Zaragoza in the 2012-2013 academic year.