A Novel Time-of-Flight Range and Bearing Sensor System for Micro Air Vehicle Swarms

Bilaloğlu, Cem
Şahin, Mehmet
Arvin, Farshad
Şahin, Erol
Turgut, Ali Emre
In this paper, we propose a novel range and bearing sensing (RnB) system for micro-air vehicle (MAV) swarms. The RnB system uses 12 infrared (IR) time-of-flight (ToF) sensors and measures the range and bearing of obstacles and other MAVs. The system incorporated hardware and software filtering to remove ambient noise and interference between different sensors to distinguish between obstacles and kin MAVs. The overall system is 50 mm wide and weighs 12.5 gram. We have installed the system on 5 indoor quadrotors and demonstrated the performance of the RnB system using flocking behavior. To the best of our knowledge, our system is the first IR ToF sensor-based RnB system designed specifically for swarms that enabled the first decentralized flocking on indoor MAVs using only on-board resources.
13th International Conference on Swarm Intelligence: ANTS 2022


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Citation Formats
C. Bilaloğlu, M. Şahin, F. Arvin, E. Şahin, and A. E. Turgut, “A Novel Time-of-Flight Range and Bearing Sensor System for Micro Air Vehicle Swarms,” presented at the 13th International Conference on Swarm Intelligence: ANTS 2022, Malaga, İspanya, 2022, Accessed: 00, 2023. [Online]. Available: https://hdl.handle.net/11511/102267.