Slawomir Grzonka, Giorgio Grisetti and Wolfram Burgard
Towards a Navigation System for Autonomous Indoor Flying
Recently there has been increasing research on the development of autonomous
flying vehicles. Whereas most of the proposed approaches are suitable for
outdoor operation, only a few techniques have been designed for indoor
environments. In this paper we present a general system consisting of
sensors and algorithms which enables a small sized flying vehicle to operate
indoors. This is done by adapting techniques which have been successfully
applied on ground robots. We released our system as open-source with the
intention to provide the community with a new framework for building
applications for indoor flying robots. We present a set of experiments to
validate our system on an open source quadrotor.
Bibtex:
@InProceedings{grzonka09icra,
author = {Grzonka, Slawomir and Grisetti, Giorgio and Burgard, Wolfram},
title = {Towards a Navigation System for Autonomous Indoor Flying},
booktitle = {Proc. IEEE International Conference on Robotics and Automation
(ICRA)},
year = {2009},
address = {Kobe, Japan}
}
Document (pdf file):
full paper
videos
mirror(videos)