A simple visual navigation system for an UAV

We present a simple and robust monocular camera-based navigation system for an autonomous quadcopter. The method does not require any additional infrastructure like radio beacons, artificial landmarks or GPS and can be easily combined with other navigation methods and algorithms. Its computational complexity is independent of the environment size and it works even when sensing only one landmark at a time, allowing its operation in landmark poor environments. We also describe an FPGA based embedded realization of the method’s most computationally demanding phase

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenarios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAV swarm stabilization and deployment in surveillance scenarios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine)

Improving Software Quality through Formal Methods.

The contribution addresses the problem of formal specification, verification and testing of software for reactive systems. A new testing algorithm is presented, its advantages and drawbacks are discussed, and topics for further research are identified.Available from STL Prague, CZ / NTK - National Technical LibrarySIGLECZCzech Republi

Improving Software Quality through Formal Methods.

The contribution addresses the problem of formal specification, verification and testing of software for reactive systems. A new testing algorithm is presented, its advantages and drawbacks are discussed, and topics for further research are identified.Available from STL Prague, CZ / NTK - National Technical LibrarySIGLECZCzech Republi

Comparison of Different Neural Network Techniques for Mobile Robot Navigation.

Two different neural network techniques were applied to the robot localization problem and were investigated.Available from STL Prague, CZ / NTK - National Technical LibrarySIGLECZCzech Republi