Thanks to the development of compact and microsized Unmanned Aerial Vehicles (UAVs), their use in dynamic and complex environments is becoming increasingly common. Many are the fields where UAVs can be exploited, from disaster rescue to logistics transportation to precision agriculture. This paper presents a Leader-Follower application for Human-Robot interaction. The system is based on ranging measurements and exploits only low-cost UWB radio avoiding complex and expensive vision-based systems. The system performance was assessed using HIL simulations and outdoor tests. The results show good accuracy and robustness of the tracking system and acceptable error levels while always ensuring the right level of safety for the human involved.

Catch-Me-If-You-Can Infrastructure-less UWB-based Leader-Follower System for Compact UAVs / Santoro, Luca; Nardello, Matteo; Calliari, Marco; Cechin Guarienti, William; Luchi, Giordano; Fontanelli, Daniele; Brunelli, Davide. - (2022), pp. 1-7. (Intervento presentato al convegno IEEE ROSE 2022 tenutosi a Abu Dhabi, United Arab Emirates nel 14-15 November 2022) [10.1109/ROSE56499.2022.9977417].

Catch-Me-If-You-Can Infrastructure-less UWB-based Leader-Follower System for Compact UAVs

Luca Santoro;Matteo Nardello;Daniele Fontanelli;Davide Brunelli
2022-01-01

Abstract

Thanks to the development of compact and microsized Unmanned Aerial Vehicles (UAVs), their use in dynamic and complex environments is becoming increasingly common. Many are the fields where UAVs can be exploited, from disaster rescue to logistics transportation to precision agriculture. This paper presents a Leader-Follower application for Human-Robot interaction. The system is based on ranging measurements and exploits only low-cost UWB radio avoiding complex and expensive vision-based systems. The system performance was assessed using HIL simulations and outdoor tests. The results show good accuracy and robustness of the tracking system and acceptable error levels while always ensuring the right level of safety for the human involved.
2022
2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)
Piscataway, New Jersey, Stati Uniti
IEEE Institute of Electrical and Electronics Engineers
978-1-6654-8923-2
Santoro, Luca; Nardello, Matteo; Calliari, Marco; Cechin Guarienti, William; Luchi, Giordano; Fontanelli, Daniele; Brunelli, Davide
Catch-Me-If-You-Can Infrastructure-less UWB-based Leader-Follower System for Compact UAVs / Santoro, Luca; Nardello, Matteo; Calliari, Marco; Cechin Guarienti, William; Luchi, Giordano; Fontanelli, Daniele; Brunelli, Davide. - (2022), pp. 1-7. (Intervento presentato al convegno IEEE ROSE 2022 tenutosi a Abu Dhabi, United Arab Emirates nel 14-15 November 2022) [10.1109/ROSE56499.2022.9977417].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/363352
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