WP4-22
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| ID | WP4-22 |
| Contributor | ALMENDE |
| Levels | Platform, Function |
| Require | |
| Provide | A generic solution to describe the location of drones at relative positions from each other |
| Input | SLAM & localization tools |
| Output | A location model |
| C4D building block | |
| TRL | 4 |
| Parent Building block | [] |
| Contact | ludo at almende.org |
Description
Shared reference frame definition for in-door, GPS-denied, cluttered, unknown environment. Base station needs to share it's pose/position estimate with all other drones during operation. Localization challenge, when beacons are moving in the map-frame.
Improvements
Current state-of-the-art for such reference frames: ROS Movebase's odom in map frame updates. However, sharing such a reference frame is not common yet. Especially when GPS-denied environment. (ROS is mostly aimed at using Odom/IMU/Visual/LIDAR)