Vision-controlled micro flying robots: From system design to autonomous navigation and mapping in GPS-denied environments
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Scaramuzza, D; Achtelik, Michael C.; Doitsidis, Lefteris; Fraundorfer, Friedrich; Kosmatopoulos, Elias; Martinelli, Agostino; Achtelik, Markus W.; Chli, Margarita; Chatzichristofis, Savvas; Kneip, Laurent; Gurdan, Daniel; Heng, Lionel; Lee, Gim Hee; Lynen, Simon; Meier, Lorenz; Pollefeys, Marc; Renzaglia, Alessandro; Siegwart, Roland; Stumpf, Jan Carsten; Tanskanen, Petri; Troiani, Chiara; Weiss, Stephan
Description
Autonomous microhelicopters will soon play a major role in tasks like search and rescue, environment monitoring, security surveillance, and inspection. If they are further realized in small scale, they can also be used in narrow outdoor and indoor environments and represent only a limited risk for people. However, for such operations, navigating based only on global positioning system (GPS) information is not sufficient. Fully autonomous operation in cities or other dense environments requires...[Show more]
dc.contributor.author | Scaramuzza, D | |
---|---|---|
dc.contributor.author | Achtelik, Michael C. | |
dc.contributor.author | Doitsidis, Lefteris | |
dc.contributor.author | Fraundorfer, Friedrich | |
dc.contributor.author | Kosmatopoulos, Elias | |
dc.contributor.author | Martinelli, Agostino | |
dc.contributor.author | Achtelik, Markus W. | |
dc.contributor.author | Chli, Margarita | |
dc.contributor.author | Chatzichristofis, Savvas | |
dc.contributor.author | Kneip, Laurent | |
dc.contributor.author | Gurdan, Daniel | |
dc.contributor.author | Heng, Lionel | |
dc.contributor.author | Lee, Gim Hee | |
dc.contributor.author | Lynen, Simon | |
dc.contributor.author | Meier, Lorenz | |
dc.contributor.author | Pollefeys, Marc | |
dc.contributor.author | Renzaglia, Alessandro | |
dc.contributor.author | Siegwart, Roland | |
dc.contributor.author | Stumpf, Jan Carsten | |
dc.contributor.author | Tanskanen, Petri | |
dc.contributor.author | Troiani, Chiara | |
dc.contributor.author | Weiss, Stephan | |
dc.date.accessioned | 2015-12-13T22:32:10Z | |
dc.identifier.issn | 1070-9932 | |
dc.identifier.uri | http://hdl.handle.net/1885/75451 | |
dc.description.abstract | Autonomous microhelicopters will soon play a major role in tasks like search and rescue, environment monitoring, security surveillance, and inspection. If they are further realized in small scale, they can also be used in narrow outdoor and indoor environments and represent only a limited risk for people. However, for such operations, navigating based only on global positioning system (GPS) information is not sufficient. Fully autonomous operation in cities or other dense environments requires microhelicopters to fly at low altitudes, where GPS signals are often shadowed, or indoors and to actively explore unknown environments while avoiding collisions and creating maps. This involves a number of challenges on all levels of helicopter design, perception, actuation, control, and navigation, which still have to be solved. The Swarm of Micro Flying Robots (SFLY) project was a European Union-funded project with the goal of creating a swarm of vision-controlled microaerial vehicles (MAVs) capable of autonomous navigation, three-dimensional (3-D) mapping, and optimal surveillance coverage in GPS-denied environments. The SFLY MAVs do not rely on remote control, radio beacons, or motion-capture systems but can fly all by themselves using only a single onboard camera and an inertial measurement unit (IMU). This article describes the technical challenges that have been faced and the results achieved from hardware design and embedded programming to vision-based navigation and mapping, with an overview of how all the modules work and how they have been integrated into the final system. Code, data sets, and videos are publicly available to the robotics community. Experimental results demonstrating three MAVs navigating autonomously in an unknown GPS-denied environment and performing 3-D mapping and optimal surveillance coverage are presented. | |
dc.publisher | IEEE Robotics and Automation Society | |
dc.source | IEEE Robotics and Automation Magazine | |
dc.title | Vision-controlled micro flying robots: From system design to autonomous navigation and mapping in GPS-denied environments | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 21 | |
dc.date.issued | 2014 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.absfor | 080104 - Computer Vision | |
local.identifier.ariespublication | U3488905xPUB4624 | |
local.type.status | Published Version | |
local.contributor.affiliation | Scaramuzza, D, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Achtelik, Michael C., Ascending Technologies GmbH | |
local.contributor.affiliation | Doitsidis, Lefteris, Technological Educational Institute of Crete | |
local.contributor.affiliation | Fraundorfer, Friedrich, Computer Vision and Geometry Group | |
local.contributor.affiliation | Kosmatopoulos, Elias, Democritus University Thrace and ITI/CERTH | |
local.contributor.affiliation | Martinelli, Agostino, INRIA | |
local.contributor.affiliation | Achtelik, Markus W., Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Chli, Margarita, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Chatzichristofis, Savvas, Centre for Research and Technology | |
local.contributor.affiliation | Kneip, Laurent, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Gurdan, Daniel, Ascending Technologies | |
local.contributor.affiliation | Heng, Lionel, Computer Vision and Geometry Group | |
local.contributor.affiliation | Lee, Gim Hee, ETH Zürich, | |
local.contributor.affiliation | Lynen, Simon, ETH Zurich | |
local.contributor.affiliation | Meier, Lorenz, ETH Zürich, | |
local.contributor.affiliation | Pollefeys, Marc, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Renzaglia, Alessandro, University of Minnesota | |
local.contributor.affiliation | Siegwart, Roland, Swiss Federal Institute of Technology Zurich (ETH Zurich) | |
local.contributor.affiliation | Stumpf, Jan Carsten , Ascending Technologies GmbH | |
local.contributor.affiliation | Tanskanen, Petri , ETH Zürich, | |
local.contributor.affiliation | Troiani, Chiara, INRIA Rhone Alpes, | |
local.contributor.affiliation | Weiss, Stephan, NASA Jet Propulsion Laboratory and Cal - ifornia Institute of Technology | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 3 | |
local.bibliographicCitation.startpage | 26 | |
local.bibliographicCitation.lastpage | 40 | |
local.identifier.doi | 10.1109/MRA.2014.2322295 | |
local.identifier.absseo | 970108 - Expanding Knowledge in the Information and Computing Sciences | |
dc.date.updated | 2015-12-11T09:05:18Z | |
local.identifier.scopusID | 2-s2.0-84907198623 | |
local.identifier.thomsonID | 000342087700007 | |
Collections | ANU Research Publications |
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