Samir Bouabdallah, Christian Bermes, Slawomir Grzonka, Christiane
Gimkiewicz, Alain Brenzikofer, Robert Hahn, Dario Schafroth, Giorgio
Grisetti, Wolfram Burgard, Roland Siegwart
Towards Palm-Size Autonomous Helicopters
Abstract:
the muFly EU project started in 2006 with the idea to build an autonomous
micro helicopter, comparable in size and weight to a small bird. Several
scientific and technological objectives were identified. This spanned from
system-level integration, high efficiency micro-actuation, highly integrated
micro vision sensors and IMUs and also low processing power navigation
algorithms. This paper shows how most of these objectives were reached,
describing the approach and the role of each partner during the whole
project. The paper describes also the technological developments achieved like
the 80 g, 17 cm micro robotic-helicopter, the 8 g omnidirectional and
steady-state laser scanner, the uIMU, the highly efficient micro motors, the
high power-density fuel-cell and the successful graph-based navigation
algorithms.
Bibtex:
@InProceedings{bouabdallah10uav,
author = {Bouabdallah, S. and Bermes, C. and Grzonka, S. and Gimkiewicz,
C. and Brenzikofer, A. and Hahn, R. and Schafroth, D. and Grisetti, G. and
Burgard, W. and Siegwart, R. },
title = {Towards Palm-Size Autonomous Helicopters},
booktitle ={International Conference and Exhibition on Unmanned Areal Vehicles
(UAV)},
ADDRESS = {Dubai, UAE},
year = {2010},
}
Paper (pdf file):
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