Swarm UAVs for area mapping in GPS-denied locations

Daniel Golan; Patrick Kennedy; Bryan Gonzalez; Ryan Taylor; Joseph Perry; Ethan Thomas; Ryan Ebrahimi; Kyle Fox; Sergey Drakunov

doi:10.1117/12.3013898

7 June 2024 Swarm UAVs for area mapping in GPS-denied locations

Daniel Golan, Patrick Kennedy, Bryan Gonzalez, Ryan Taylor, Joseph Perry, Ethan Thomas, Ryan Ebrahimi, Kyle Fox, Sergey Drakunov

Author Affiliations +

Proceedings Volume 13055, Unmanned Systems Technology XXVI; 130550O (2024) https://doi.org/10.1117/12.3013898
Event: SPIE Defense + Commercial Sensing, 2024, National Harbor, Maryland, United States

Conference Poster

Abstract

Swarm of Unmanned Aerial Vehicles using Emergence (SUAVE) efficiently creates a map in GPS-denied locations using Simultaneous Localization and Mapping (SLAM). Each drone is outfitted with a Lidar and an Intel Realsense Camera, which will be used to develop a high-fidelity infrared 3D map of an area without the need for GPS. Upon completion of each flight, the point clouds made through photogrammetry on each drone will be recorded and fused, creating a map with higher precision and accuracy. The use of the swarm is to generate this map from multiple points of view so that shadow effects can be negated and a more populated, dense map can be produced in respect to one drone’s map. To address localization with no GPS, the onboard IMU suite will be used to track relative position, while the onboard camera will track the local position. These two forms of localization, when coupled, allow for autonomous flights in lieu of GPS localization. This manuscript demonstrates the differences between one, three, and five fused maps during autonomous test flights on an Unmanned Aerial System (UAS) with a lack of GPS.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Daniel Golan, Patrick Kennedy, Bryan Gonzalez, Ryan Taylor, Joseph Perry, Ethan Thomas, Ryan Ebrahimi, Kyle Fox, and Sergey Drakunov "Swarm UAVs for area mapping in GPS-denied locations", Proc. SPIE 13055, Unmanned Systems Technology XXVI, 130550O (7 June 2024); https://doi.org/10.1117/12.3013898

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