A compact exploration strategy for indoor flight vehicles

  title={A compact exploration strategy for indoor flight vehicles},
  author={Chintasid Pravitra and Girish Chowdhary and Eric N. Johnson},
  journal={IEEE Conference on Decision and Control and European Control Conference},
This paper presents a compact exploration strategy designed to be implemented onboard indoor Miniature Air Vehicles (MAVs) operating in cluttered and confined environments. The exploration strategy uses 2D range information from a laser range scanner to generate velocity commands by blending a Sensor-based Random Tree frontier planner with a wall-following velocity field generator. The combined approach leverages the efficient exploration capabilities of frontier-based guidance and ensures that… CONTINUE READING


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