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Related Experiment Video

Updated: Oct 6, 2025

Evaluating Flight Performance and Eye Movement Patterns Using Virtual Reality Flight Simulator

Evaluating Flight Performance and Eye Movement Patterns Using Virtual Reality Flight Simulator

Published on: May 19, 2023

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration.

Nikolaos Evangeliou¹, Dimitris Chaikalis², Athanasios Tsoukalas¹

¹Robotics and Intelligent Systems Control (RISC) Lab, Electrical and Computer Engineering Department, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates.

Frontiers in Robotics and AI

|January 21, 2022

Summary

This summary is machine-generated.

This study introduces a visual system using passive markers for unmanned aerial vehicles (UAVs) in formation flight. This method eliminates radio frequency (RF) communication, reducing latency and improving relative pose detection accuracy.

Keywords:

UAV drone leader follower relative localization swarm

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Area of Science:

Robotics
Computer Vision
Aerospace Engineering

Background:

Unmanned Aerial Vehicles (UAVs) in leader-follower formations require precise relative pose information.
Traditional RF communication for pose data introduces latency and packet loss.
Existing methods lack robustness in dynamic formation scenarios.

Purpose of the Study:

To develop and validate a novel visual-based relative pose estimation system for UAVs.
To eliminate reliance on RF communication for inter-UAV data exchange in formations.
To enhance the robustness and efficiency of UAV formation control.

Main Methods:

Utilizing passive markers in a RhOct configuration on each UAV.
Implementing on-board visual detection and relative pose determination.
Developing a reference path for follower UAVs to track the leader.

Main Results:

Achieved a mean position detection error below 0.0031% within the operational workspace.
Demonstrated successful leader tracking and inter-member distance maintenance.
Validated the system's tolerance to communication delays up to 1.25 seconds.

Conclusions:

The visual marker system effectively replaces RF communication for relative pose estimation in UAV formations.
This approach enhances formation control accuracy and resilience to communication latency.
The method offers a promising solution for robust and efficient collaborative UAV operations.