Please join us on Thursday, November 12 from 1000-1100 as Dr. Kevin Brink presents "Multi-agent Navigation in GPS-Denied Environments".
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Join Zoom Meeting
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Phone one-tap:
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US: +16692545252,,1607798287#,,1#,466653# or +16468287666,,1607798287#,,1#,466653#
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Meeting URL:
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https://doolittleinstitute-org.zoomgov.com/j/1607798287?pwd=YTBQbEM4SHhEbHExR0NaWnVkZ2s1QT09
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Meeting ID:
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160 779 8287
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Password:
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466653
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This talk will discuss recent AFRL and university collaborations enabling cooperative navigation in GPS-denied environments for teams of fixed-wing unmanned air vehicles. The method developed uses a tiered estimation structure. The first tier runs a high-rate front-end filter on each vehicle producing odometry-like estimates utilizing only a monocular camera and an inertial measurement unit. The second tier is a global back end, also run on each vehicle, which represents the global state of the cooperating vehicles as a pose graph using the odometry estimates from the multiple front-end filters and range measurements taken between the collaborating vehicles as inputs. The outcome is a real-time cooperative navigation capability that improves performance over the individual vehicle capabilities while requiring minimal bandwidth and providing robustness to communication dropouts. Simulation and hardware flight-test results will be shared.
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Ryan Sherrill
Niceville FL
(505)860-2230
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