Slawomir Grzonka, Giorgio Grisetti and Wolfram Burgard
A Fully Autonomous Indoor Quadrotor
Recently there has been an increased interest in 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, where the systems cannot rely on
GPS and therefore have to use their exteroceptive sensors for
navigation. In this paper we present a general navigation system
which enables a small-sized quadrotor system to autonomously
operate in indoor environments. To achieve this, we systematically
extend and adapt techniques which have been successfully applied on
ground robots. We describe all algorithms and present a broad set of
experiments illustrating that they enable a quadrotor robot to
reliably and autonomously navigate in indoor environments.
Bibtex:
@article{grzonka12tro_quadrotor,
author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
title = {{A Fully Autonomous Indoor Quadrotor}},
journal = IEEE Transactions on Robotics (T-RO),
number = {1},
month = {2},
volume = {8},
year = {2012},
pages = {90--100}
}
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