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Although monocular cameras are ubiquitous in current day MAV platforms, monocular cameras are unable to resolve scale on their own, which necessitates further sensor fusion. The main aim of this project is to create a framework that can perform collaborative localization between groups of micro aerial vehicle multirotor vehicles using monocular cameras as the only sensors.

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These two helicopters are equiped with an autopilot that allow us to send it high-level control commands and simplifies the control task.

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In this step, the real movement of a ship on the sea is simulated. This movement, depends on the Sea State, the wave direction and of course, the ship. Once we have the offline simulated movement of the ship, it has to be implemented in gay speed dating lyon motion platform calculating the Inverse Kinematics and avoiding the singular configurations. This step consist on measure the pose position and orientation of the UAV, respect to the pose to the ship deck.

Our first proposal is use a computer vision system made up for a single Point Gray, Inc camera.

As the size of the landing platform is known, the 3D reconstruction is feasible. As the measure could have noise, and could be lost during a period of time, a State Estimator is needed, to achieve a reliable state estimation for the next steps. In this step the controller is designed and tested thanks to the previous simulation of the ship deck and a simulation of the VTOL UAV.

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