GPSless localisation for UAV with self-organised distributed coverage of 3D structures


This project aims to develop

  • a simple and easily deployable localisation solution for UAVs to operate in GPS-denied environments with high accuracy and reliability.

  • distributed algorithms for an autonomous organisation of UAVs to provide specific coverage of static 3D structures under resource and time constraint.


The research team has developed a localisation system consisting of multiple anchor nodes, which allow UAVs to seamlessly measure the relative distance and estimate their existing positions. An effort has also been made to develop a control law that regulates the distance between multiple UAVs, which constantly communicate among themselves while exploring in an unknown region.

                           Indoor flight test with four UAVs                             Structural health inspection
                          at a minimum distance of 1.75 m.                            in a GPSless environment.                                               
                                    Localisation in forest                           Demonstration of cooperative surveillance,
                                and clustered environment                    search and rescue in an urban environment.

Demonstration Video


Principal Investigators

Prof Xie Lihua (NTU)

Telephone: 6790 4524
Office: S2-B2c-94
Mr. Paul Tan (STE)

Telephone: 6660 1052
Office: S1-B4a-03

Co-Principal Investigators

Assistant Prof. Hu Guoqiang (NTU)

Telephone: 6790 4362
Office: S1-B1b-56