Fly spy: lightweight localization and target tracking for cooperating air and ground robots

  • Richard T. Vaughan
  • Gaurav S. Sukhatme
  • Francisco J. Mesa-Martinez
  • James F. Montgomery


Motivated by the requirements of micro air vehicles, we present a simple method for estimating the position, heading and altitude of an aerial robot by tracking the image of a communicating GPS-localized ground robot. The image-to-GPS mapping thus generated can be used to localize other objects on the ground. Results from experiments with real robots are described.


Ground Vehicle Unmanned Ground Vehicle Lateral Drift Aerial Robot Ground Robot 
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Copyright information

© Springer-Verlag Tokyo 2000

Authors and Affiliations

  • Richard T. Vaughan
    • 1
  • Gaurav S. Sukhatme
    • 1
  • Francisco J. Mesa-Martinez
    • 1
  • James F. Montgomery
    • 1
  1. 1.Robotics Research LaboratoriesUniversity of Southern CaliforniaLos AngelesUSA

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