Abstract
We present a multi-UAV system capable of localizing radio tagged animals. Each UAV carries a Yagi antenna and is capable of obtaining bearing-measurements by using the directionality of the signal emitted from the tag. In this paper, we address the following question: given a set of measurement locations, should the UAVs move in coordination and obtain synchronized measurements, or should they move independently? For each scenario, we present a path planning algorithm. The algorithms are compared in simulations. We also present a complete system implementation with three UAVs and results from field experiments.
Original language | English (US) |
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Title of host publication | 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 97-103 |
Number of pages | 7 |
ISBN (Electronic) | 9781509063093 |
DOIs | |
State | Published - Jan 8 2018 |
Event | 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 - CA, United States Duration: Dec 4 2017 → Dec 5 2017 |
Publication series
Name | 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 |
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Volume | 2018-January |
Other
Other | 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 |
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Country/Territory | United States |
City | CA |
Period | 12/4/17 → 12/5/17 |
Bibliographical note
Funding Information:The authors are with the Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA. {hbayram, stefa125, engin003, isler}@umn.edu. This work is supported in part by a Minnesota State LCCMR grant and NSF grants #1111638, #1525045 and #1617718.
Publisher Copyright:
© 2017 IEEE.