Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle

Joao Silva; Ricardo Mendonca; Francisco Marques; Paulo Rodrigues; Pedro Santana; Jose Barata

Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle

Joao Silva, Ricardo Mendonca, Francisco Marques, Paulo Rodrigues, Pedro Santana, Jose Barata

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1523-1530
Number of pages	8
Publication status	Published - 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

Cite this

@inproceedings{e99153e8235a4c869b4871fdf14c201c,

title = "Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle",

abstract = "This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.",

author = "Joao Silva and Ricardo Mendonca and Francisco Marques and Paulo Rodrigues and Pedro Santana and Jose Barata",

year = "2014",

language = "English",

pages = "1523--1530",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) ; Conference date: 05-12-2014 Through 10-12-2014",

}

Silva, J, Mendonca, R, Marques, F, Rodrigues, P, Santana, P & Barata, J 2014, Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers (IEEE), pp. 1523-1530, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, 5/12/14.

Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle. / Silva, Joao; Mendonca, Ricardo; Marques, Francisco et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers (IEEE), 2014. p. 1523-1530.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle

AU - Silva, Joao

AU - Mendonca, Ricardo

AU - Marques, Francisco

AU - Rodrigues, Paulo

AU - Santana, Pedro

AU - Barata, Jose

PY - 2014

Y1 - 2014

N2 - This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.

AB - This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.

M3 - Conference contribution

SP - 1523

EP - 1530

BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Y2 - 5 December 2014 through 10 December 2014

ER -

Saliency-Based Cooperative Landing of a Multirotor Aerial Vehicle on an Autonomous Surface Vehicle

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