Localization of swarm quads in doors?

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Mohamed-Mourad Lafifi

Dear Ali Srour,

I suggest you to see links and attached files on topic.

Crazyswarm: A Large Nano-Quadcopter Swarm - USC Robotics ...

https://robotics.usc.edu/publications/downloads/pub/959/

This Autonomous Quadrotor Swarm Doesn't Need GPS - IEEE Spectrum

https://spectrum.ieee.org/.../this-autonomous-quadrotor-swarm-doe...

Modelling and Simulation for Autonomous Systems: 4th International ...

https://books.google.dz/books?isbn=3319760726

Best regards

Emre Koyuncu

Dear Ali,

In addition to existing VICON (quite expensive), OptiTrack (expensive but cheaper than VICON), you can build your own motion tracking system through fast IP cams. All you need to do, put reflector stickers on the drones and run your own blob detection code. OpenCV library will help much. In addition to position, if you want to get orientation, you will need use at least sticker triplets on the drones. You might need to use fix patterns or write an interface code that will help you to choose which sticker triplets represents a drone - it will help to track the drones even when they overlapped. Another issue is to use overlapping cameras to increase the volume. You will need to write an another algorithm enabling object handover between the cameras...

These are not so easy but not impossible... I had built a similar setup for robots during my master studies when the computers were quite slow...

Good luck.

Seungkeun Kim

Do you need an external tracking sensor or a internal self-navigation sensor/algorithm?

For the self navigation, SLAM with RGB-D cameras or lidars can be a candidate to get positions.

Centralized or decentralized sensor fusion can be applied to robot swarm with comms capabilities.

Ali Srour

Emre Koyuncu please can you share your setup with algorithms and code? or perhaps a vedio, paper or article please?

Seungkeun Kim i need a method like Mr.Emre proposed a cheap reliable method instead of using VICON which is expensive..

In that case, Loco positioning system developed for Crazefly could be used at a low cost. It is based on high freq radio signals.

https://www.bitcraze.io/loco-pos-system/

Seungkeun Kim do you know similar positioning system developed for Tello dji ?

I thank you for your help!!

I think the sensor system can be independently used for other drones.

Seungkeun Kim the method proposed would cost me 2500 dollars for 5 crazyflie drones its very expensive , is there any other way for the localization of drones in tight formations...?