<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>For the past decade, the main problem that has attracted researchers’ attention in aerial robotics is the position estimation or Simultaneous Localization and Mapping (SLAM) of Unmanned Aerial Vehicles (UAVs) where the GPS signal is poor or denied. This article reviews the strengths and weaknesses of existing methods in the field of aerial robotics. There are many different techniques and algorithms that are used to overcome the localization and mapping problem of these UAVs. These techniques and algorithms use different sensors, such as Red Green Blue-Depth (RGB_D), Light Detecting and Ranging (LIDAR), and Ultra-wideband (UWB). The most common technique is used, i.e., probability-based SLAM, which uses two algorithms: Linear Kalman Filter (LKF) and Extended Kalman Filter (EKF). LKF consists of five phases and this algorithm is just used for linear system problems. However, the EKF algorithm is used for non-linear systems. Aerial robots are used to perform many tasks, such as rescue, transportation, search, control, monitoring, and different military operations because of their vast top view. These properties are increasing their demand as compared to human service. In this paper, different techniques for the localization of aerial vehicles are discussed in terms of advantages and disadvantages, practicality and efficiency. This paper enables future researchers to find the suitable SLAM solution based on their problems; either the researcher is dealing with a linear problem or a non-linear problem.</p>
</abstract>

For the past decade, the main problem that has attracted researchers’ attention in aerial robotics is the position estimation or Simultaneous Localization and Mapping (SLAM) of Unmanned Aerial Vehicles (UAVs) where the GPS signal is poor or denied. This article reviews the strengths and weaknesses of existing methods in the field of aerial robotics. There are many different techniques and algorithms that are used to overcome the localization and mapping problem of these UAVs. These techniques and algorithms use different sensors, such as Red Green Blue-Depth (RGB_D), Light Detecting and Ranging (LIDAR), and Ultra-wideband (UWB). The most common technique is used, i.e., probability-based SLAM, which uses two algorithms: Linear Kalman Filter (LKF) and Extended Kalman Filter (EKF). LKF consists of five phases and this algorithm is just used for linear system problems. However, the EKF algorithm is used for non-linear systems. Aerial robots are used to perform many tasks, such as rescue, transportation, search, control, monitoring, and different military operations because of their vast top view. These properties are increasing their demand as compared to human service. In this paper, different techniques for the localization of aerial vehicles are discussed in terms of advantages and disadvantages, practicality and efficiency. This paper enables future researchers to find the suitable SLAM solution based on their problems; either the researcher is dealing with a linear problem or a non-linear problem.

A State of the Art in Simultaneous Localization and Mapping (SLAM) for Unmanned Ariel Vehicle (UAV): A Review

Assistant Professor, University of Gujrat

Assistant Professor, University of Engineering and Technology

Electrical, Control and Communication Engineering

This work is licensed under the Creative Commons Attribution 4.0 International License.

For the past decade, the main problem that has attracted researchers’ attention in aerial robotics is the position estimation or Simultaneous Localization and...

A State of the Art in Simultaneous Localization and Mapping (SLAM) for Unmanned Ariel Vehicle (UAV): A Review

Published Online: Jan 19, 2023

Page range: 50 - 56

DOI: https://doi.org/10.2478/ecce-2022-0007

Keywords
EKF, extended Kalman filter, light detecting and range, linear Kalman filter, simultaneously localization and mapping, SLAM, unmanned aerial vehicle

© 2022 Abdul Rauf et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

A State of the Art in Simultaneous Localization and Mapping (SLAM) for Unmanned Ariel Vehicle (UAV): A Review

Published Online: Jan 19, 2023

Page range: 50 - 56

DOI: https://doi.org/10.2478/ecce-2022-0007

KeywordsEKF, extended Kalman filter, light detecting and range, linear Kalman filter, simultaneously localization and mapping, SLAM, unmanned aerial vehicle

© 2022 Abdul Rauf et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
EKF, extended Kalman filter, light detecting and range, linear Kalman filter, simultaneously localization and mapping, SLAM, unmanned aerial vehicle