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— In this paper, we consider the development of a rotorcraft micro aerial vehicle (MAV) system capable of vision-based state estimation in complex environments. We pursue a systems solution for the hardware and software to enable autonomous flight with a small rotorcraft in complex indoor and outdoor environments using only onboard vision and inertial(More)
—This paper addresses the development of a lightweight autonomous quadrotor that uses cameras and an inexpensive IMU as its only sensors and onboard processors for estimation and control. We describe a fully-functional, integrated system with a focus on robust visual-inertial state estimation, and demonstrate the quadrotor's ability to autonomously travel(More)
We report recent results from field experiments conducted with a team of ground and aerial robots engaged in the collaborative mapping of an earthquake-damaged building. The goal of the experimental exercise is the generation of three-dimensional maps that capture the layout of a multifloor environment. The experiments took place in the top three floors of(More)
— Addressing the challenges of feeding the burgeoning world population with limited resources requires innovation in sustainable, efficient farming. The practice of precision agriculture offers many benefits towards addressing these challenges, such as improved yield and efficient use of such resources as water, fertilizer and pesticides. We describe the(More)
Micro UAVs are receiving a great deal of attention in many diverse applications. In this paper, we are interested in a unique application, surveillance for maintenance of large infrastructure assets such as dams and penstocks, where the goal is to periodically inspect and map the structure to detect features that might indicate the potential for failures.(More)