Uploaded May 2018 | Updated September 2026, 2 weeks ago
ICRA 2018 Spotlight Video
Interactive Session Thu PM Pod B.3
Authors: Weinstein, Aaron; Cho, Adam; Loianno, Giuseppe; Kumar, Vijay
Title: VIO-Swarm: A Swarm of Vision Based Quadrotors
Abstract:
In this paper, we present the system infrastructure for a swarm of quadrotors, which perform all estimation onboard using monocular Visual Inertial Odometry. This is a novel system since it does not require an external motion capture system or GPS and is able to execute formation tasks without inter-robot collisions. The swarm can be deployed in nearly any indoor or outdoor scenario and is scalable to higher numbers of robots. We discuss the system architecture, estimation, planning, and control for the multi-robot system. The robustness and scalability of the approach is validated in both indoor and outdoor environments with up to 12 quadrotors.
ICRA 2018 Spotlight Video
Interactive Session Thu PM Pod B.3
Authors: Weinstein, Aaron; Cho, Adam; Loianno, Giuseppe; Kumar, Vijay
Title: VIO-Swarm: A Swarm of Vision Based Quadrotors
Abstract:
In this paper, we present the system infrastructure for a swarm of quadrotors, which perform all estimation onboard using monocular Visual Inertial Odometry. This is a novel system since it does not require an external motion capture system or GPS and is able to execute formation tasks without inter-robot collisions. The swarm can be deployed in nearly any indoor or outdoor scenario and is scalable to higher numbers of robots. We discuss the system architecture, estimation, planning, and control for the multi-robot system. The robustness and scalability of the approach is validated in both indoor and outdoor environments with up to 12 quadrotors.
