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ICRA
2005
IEEE

Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control

10 years 3 months ago
Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control
Abstract— We aim at developing autonomous microflyers capable of navigating within houses or small built environments. The severe weight and energy constraints of indoor flying platforms led us to take inspiration from flying insects for the selection of sensors, signal processing, and behaviors. This paper presents the control strategies enabling obstacle avoidance and altitude control using only optic flow and gyroscopic information. For experimental convenience, the control strategies are first implemented and tested separately on a small wheeled robot featuring the same hardware as the targeted aircraft. The obstacle avoidance system is then transferred to a 30-gram aircraft, which demonstrates autonomous steering within a square textured arena.
Jean-Christophe Zufferey, Dario Floreano
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Jean-Christophe Zufferey, Dario Floreano
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