An Event-Based Tracking Control Framework for Multirotor Aerial Vehicles Using a Dynamic Vision Sensor and Neuromorphic Hardware
Sotirios N. Aspragkathos,Evangelos Ntouros,George C. Karras,B. Linares-Barranco,T. Serrano-Gotarredona,Kostas J. Kyriakopoulos,Sotirios N. Aspragkathos,Evangelos Ntouros,George C. Karras,B. Linares-Barranco,T. Serrano-Gotarredona,Kostas J. Kyriakopoulos
In this paper, we present an event-based control framework for the efficient tracking of contour-based areas, such as road pavements, using a multirotor aerial vehicle equipped with a bio-inspired Dynamic Vision Sensor (DVS). Concerning the detection part, the DVS camera captures events, which are asynchronously fed into a Neuromorphic Hough Transform algorithm running on a SpiNN-3 board and imple...
