Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision

@article{Falanga2017AggressiveQF,
  title={Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision},
  author={Davide Falanga and Elias Mueggler and Matthias Faessler and Davide Scaramuzza},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={5774-5781}
}
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap position and orientation in the world reference frame, we rely solely on onboard sensing and computing and estimate the full state by fusing gap detection from a single onboard camera with an IMU. This problem is challenging for two reasons: (i) the quadrotor… CONTINUE READING
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