Distributed control and navigation system for quadrotor UAVs in GPS-denied environments
Institute for Systems Analysis of Russian Academy of Sciences（俄罗斯科学院系统分析研究所）；Soloviev Rybinsk State Aviation Technical University（索洛维约夫雷宾斯克国立航空技术大学）；NPP SATEK plus（SATEK plus公司）
英文摘要：
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation is based on ROS framework. Custom implementation of EKF-based map building algorithm is used to solve marker detection and map building task.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
