Vision-based integrated navigation system and optimal allocation in formation flying

This article proposes an integrated navigation system for multiple micro aerial vehicles flying in formation. A data fusion algorithm uses measurements from an inertial measurement unit, a GPS receiver and a camera allowing to use the positioning information of the surrounding vehicles to improve its estimation. A measure of the navigation performance of the formation is defined. Based on such measure, the position where each vehicle should be located in the formation is studied to guarantee the best overall navigation quality.Fil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Moreno, Patricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaInternational Conference on Unmanned Aerial SystemsDallasEstados UnidosInstitute of Electrical and Electronics Engineers, Robotics and Automation Societ