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UAV Collaboration for Autonomous Target Capture

Tony, LA and Jana, S and Varun, VP and Shorewala, S and Vidyadhara, BV and Gadde, MS and Kashyap, A and Ravichandran, R and Krishnapuram, R and Ghose, D (2022) UAV Collaboration for Autonomous Target Capture. [Book Chapter]

Full text not available from this repository.
Official URL: https://doi.org/10.1007/978-981-16-9416-5_62


Capturing moving objects using unmanned aerial vehicles (UAVs) is a challenging task. Many UAV applications require the capture of dynamic aerial targets. Successful interception requires accurate detection of the object, continuous tracking, and safe engagement without damaging any involving vehicles. This work presents the algorithmic details and hardware implementation for capturing a moving ball in a collaborative framework in an outdoor environment. The tracking and grabbing algorithm is developed using image-based guidance from the information of a monocular camera. The target image is detected and tracked using ML-based algorithm and Kalman filter. Finally, the proposed framework is simulated in ROS-Gazebo to evaluate the performance of individual algorithms and further implemented on hardware to validate the system’s real-time performance. The proposed system could be utilized for several applications like counter-UAV systems, fruit picking, among many others.

Item Type: Book Chapter
Publication: Lecture Notes on Data Engineering and Communications Technologies
Series.: Lecture Notes on Data Engineering and Communications Technologies
Publisher: Springer Science and Business Media Deutschland GmbH
Additional Information: The copyright for this article belongs to the Springer Science and Business Media Deutschland GmbH.
Keywords: Aircraft detection; Object detection; Unmanned aerial vehicles (UAV), Aerial vehicle; Autonomous target; Collaborative aerial manipulation; Moving objects; Moving target capture; Moving targets; Multi-unmanned aerial vehicle system; Target capture; Unmanned aerial vehicle systems; Vehicle applications, Antennas
Department/Centre: Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 28 Jul 2022 05:47
Last Modified: 28 Jul 2022 05:47
URI: https://eprints.iisc.ac.in/id/eprint/75019

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