Opposed to stationary robots, mobile robots have to master the perception-to-action chain for a wide range of environments. In particular, mobile robots need to be aware of their own location with respect to their environment at all times to act in a reasonable manner. In the first part of this talk, I will address the problem of pose estimation for a single UAV while relying entirely on onboard hardware. Here, approaches based on both visual velocity and position estimation will be discussed. In the second part, I will take the problem to the next level and address the visual mutual localization problem for a swarm of robots. Solutions for situations with and without an existing line of sight will be highlighted. Finally, I will briefly demonstrate our modular software TeleKyb for the control of UAVs.
Volker Grabe received his MSc in Computer Science from the University of Tübingen, Germany, before starting his doctoral studies with Paolo Robuffo Giordano at the Max-Planck Institute for Biological Cybernetics in 2010. Since 2012, he is working with his co-supervisor Davide Scaramuzza at the University of Zürich.