This thesis presents the design, implementation, and validation of a system that enables a micro air vehicle to autonomously explore and map unstructured and unknown indoor environments. Such a vehicle would be of considerable use in many real-world applications such as search and rescue, civil engineering inspection, and a host of military tasks where it… (More)
— We describe an efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation. Currently , similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and instable behavior during fast maneuvers. Our flying platform offers a 1 kHz control frequency… (More)
Fig. 1. The three SFLY hexacopters designed for inertial-visual navigation in GPS-denied environments.
—The MAV '08 competition focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate ground targets, and planning the motion of ground vehicles to… (More)
— The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the… (More)
—The MAV '08 competition in Agra, India focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. Executing this mission required addressing a number of technical challenges, including the design and operation of micro air vehicles (MAVs), using the MAVs to geolocate and track ground targets, and… (More)
1 Further Results In this supplementary material we present further experimental results of our proposed framework. Fig. 3 shows a qualitative comparison of the methods by Mahajan et al.  Werlberger et al.  Proposed sparse approach Fig. 1: Comparison of our sparse approach to two state-of-the-art temporal interpolation methods. From left to right:… (More)
utonomous 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… (More)