Abstract
Cooperative robotics is exponentially gaining strength in scientific research, especially regarding the cooperation between ground mobile robots and Unmanned Aerial Vehicles (UAVs), where the remaining challenges are equipollent to its potential uses in different fields, such as agriculture and electrical tower inspections. Due to the complexity involved in the process, precision landing by UAVs on moving robotic platforms for tasks such as battery hot-swapping is a major open research question. This work explores the feasibility and accuracy of different fiducial markers to aid in the precision landing process by a UAV on a mobile robotic platform. For this purpose, a Tello UAV was used to acquire images at different positions, angles, and distances from ArUco, ARTag, and ArUco Board markers to evaluate their detection precision. The analyses demonstrate the highest reliability in the measurements performed through the ArUco marker. Future work will be devoted to using the ArUco marker to perform precision landing on a mobile robotic platform, considering the necessary adjustments to lessen the impact of errors intrinsic to detecting the fiducial marker during the landing procedure.
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Acknowledgment
The authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCTMCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020), SusTEC (LA/P/0007/2021), Oleachain “Skills for sustainability and innovation in the value chain of traditional olive groves in the Northern Interior of Portugal” (Norte06-3559-FSE-000188), Centro Federal de Educação Tecnológica Celso Suckow da Fonseca (CEFETRJ), Fundação de Amparo à Pesquisa do Estado do Rio de Janeiro (FAPERJ), and Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028.
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Junior, L.B. et al. (2024). A Comparison of Fiducial Markers Pose Estimation for UAVs Indoor Precision Landing. In: Pereira, A.I., Mendes, A., Fernandes, F.P., Pacheco, M.F., Coelho, J.P., Lima, J. (eds) Optimization, Learning Algorithms and Applications. OL2A 2023. Communications in Computer and Information Science, vol 1981. Springer, Cham. https://doi.org/10.1007/978-3-031-53025-8_2
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