Cooperative sUAV Swarm Navigation for Urban Infrastructure Monitoring

Maarten Uijt de Haag and Mats Martens

Abstract:	This paper focusses on one challenge of operating small Unmanned Aircraft Systems swarms in urban environments, namely advanced absolute and relative navigation methods for swarms and swarm members. The paper discusses various absolute and relative pose and velocity estimation approach that extends conventional integrated navigation methods to include principles of cognition (i.e., appropriate, and adapted actions based on perception and knowledge) and collaboration (i.e., improved ability to reason and interact based on information exchange and spatial distribution) between the swarm members. This paper outlines the underlying methodology, first simulation results, and the platform hardware components (three multi-copters and one ground station). It furthermore analyses and discusses the navigation performance using sUAS flight test data collected in an open-sky and simulations in an urban environment.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	2835 - 2848
Cite this article:	de Haag, Maarten Uijt, Martens, Mats, "Cooperative sUAV Swarm Navigation for Urban Infrastructure Monitoring," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 2835-2848. https://doi.org/10.33012/2022.18552
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