TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous Swarms
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arXiv
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| Auteurs principaux: | , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929480353710080 |
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| author | Wang, Haoyang Xu, Jingao Zhao, Chenyu Lu, Zihong Cheng, Yuhan Chen, Xuecheng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei |
| author_facet | Wang, Haoyang Xu, Jingao Zhao, Chenyu Lu, Zihong Cheng, Yuhan Chen, Xuecheng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei |
| contents | A heterogeneous micro aerial vehicles (MAV) swarm consists of resource-intensive but expensive advanced MAVs (AMAVs) and resource-limited but cost-effective basic MAVs (BMAVs), offering opportunities in diverse fields. Accurate and real-time localization is crucial for MAV swarms, but current practices lack a low-cost, high-precision, and real-time solution, especially for lightweight BMAVs. We find an opportunity to accomplish the task by transforming AMAVs into mobile localization infrastructures for BMAVs. However, turning this insight into a practical system is non-trivial due to challenges in location estimation with BMAVs' unknown and diverse localization errors and resource allocation of AMAVs given coupled influential factors. This study proposes TransformLoc, a new framework that transforms AMAVs into mobile localization infrastructures, specifically designed for low-cost and resource-constrained BMAVs. We first design an error-aware joint location estimation model to perform intermittent joint location estimation for BMAVs and then design a proximity-driven adaptive grouping-scheduling strategy to allocate resources of AMAVs dynamically. TransformLoc achieves a collaborative, adaptive, and cost-effective localization system suitable for large-scale heterogeneous MAV swarms. We implement TransformLoc on industrial drones and validate its performance. Results show that TransformLoc outperforms baselines including SOTA up to 68\% in localization performance, motivating up to 60\% navigation success rate improvement. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_08815 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous Swarms Wang, Haoyang Xu, Jingao Zhao, Chenyu Lu, Zihong Cheng, Yuhan Chen, Xuecheng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei Networking and Internet Architecture Robotics A heterogeneous micro aerial vehicles (MAV) swarm consists of resource-intensive but expensive advanced MAVs (AMAVs) and resource-limited but cost-effective basic MAVs (BMAVs), offering opportunities in diverse fields. Accurate and real-time localization is crucial for MAV swarms, but current practices lack a low-cost, high-precision, and real-time solution, especially for lightweight BMAVs. We find an opportunity to accomplish the task by transforming AMAVs into mobile localization infrastructures for BMAVs. However, turning this insight into a practical system is non-trivial due to challenges in location estimation with BMAVs' unknown and diverse localization errors and resource allocation of AMAVs given coupled influential factors. This study proposes TransformLoc, a new framework that transforms AMAVs into mobile localization infrastructures, specifically designed for low-cost and resource-constrained BMAVs. We first design an error-aware joint location estimation model to perform intermittent joint location estimation for BMAVs and then design a proximity-driven adaptive grouping-scheduling strategy to allocate resources of AMAVs dynamically. TransformLoc achieves a collaborative, adaptive, and cost-effective localization system suitable for large-scale heterogeneous MAV swarms. We implement TransformLoc on industrial drones and validate its performance. Results show that TransformLoc outperforms baselines including SOTA up to 68\% in localization performance, motivating up to 60\% navigation success rate improvement. |
| title | TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous Swarms |
| topic | Networking and Internet Architecture Robotics |
| url | https://arxiv.org/abs/2403.08815 |