• Corpus ID: 17923608

Autonomous Indoor Hovering with a Quadrotor

  title={Autonomous Indoor Hovering with a Quadrotor},
  author={Gabriele Angeletti and Jo{\~a}o Valente and Luca Iocchi and Daniele Nardi},
Mini and micro UAVs are very promising platforms for se- curity and surveillance applications, because of their increased mobility in the environment. Moreover, they can eectively employed also in in- door environments. On the other hand, the limited payload for carrying sensors and the limited computational power on-board make the devel- opment of autonomous UAVs very challenging. In this paper we present hardware and software development of a quadrobot that can reliably navigate in indoor… 

Figures from this paper

Vision-assisted hovering control for an indoor micro aerial robot
Micro aerial robots can perform special tasks in narrow indoor environments with tiny size and flexible maneuverability. However, autonomous navigation is still a big challenge for micro aerial
Autonomous Flight in Unknown Indoor Environments
The difficulties in achieving fully autonomous helicopter flight are described, highlighting the differences between ground and helicopter robots that make it difficult to use algorithms that have been developed for ground robots.
Autonomous flight in unstructured and unknown indoor environments
The difficulties in achieving fully autonomous helicopter flight are described, highlighting the differences between ground and helicopter robots that make it difficult to use algorithms developed for ground robots.
Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
This paper presents our solution for enabling a quadrotor helicopter to autonomously navigate unstructured and unknown indoor environments. We compare two sensor suites, specifically a laser
Autonomous Wall-Following Based Navigation of Unmanned Aerial Vehicles in Indoor Environments
A method based on wall-tracking is proposed to enable a quadrotor UAV to navigate across an indoor environment and can find applications in situations which might otherwise be inaccessible or dangerous for humans, such as collapsed buildings, radioactive or HazMat conditions, and small conduits.
A vision-guided autonomous quadrotor in an air-ground multi-robot system
This vision-guided autonomous quadrotor is equipped with a monocular camera, IMUs and a flight computer, which enables autonomous flights and two complementary pose/motion estimation methods are developed by considering different altitudes in a flight.
RANGE - robust autonomous navigation in GPS-denied environments
This system leverages a multi-level sensing and control hierarchy that matches the computational complexity of the component algorithms with the real-time needs of a MAV to achieve autonomy in unconstrained environments.
Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
These experiments show that despite the challenges associated with flying robustly in challenging shipboard environments, it is possible to use a MAV to autonomously fly into a confined shipboard environment to rapidly gather situational information to guide firefighting and rescue efforts.
Real-time Estimation of UAV Attitude from Aerial Fisheye Video
A fast algorithm to estimate pitch and roll angles from real-time video frames that are captured using a downward pointing camera equipped with a fisheye lens is presented.
Development of an air-ground operational robot and its fundamental controlling approach
  • M. OotsukaH. PremachandraKiyotaka Kato
  • Materials Science
    2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS)
  • 2014
A robot which enables to achieve air-ground operations is developed and a fundamental autonomous moving and flying control step of the robot is also described.


Quadrotor Using Minimal Sensing For Autonomous Indoor Flight
The prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control.
Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz
An efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation using powerful brushless DC motors in a light-weight package based on a small number of low-cost components.
design and control of quadrotors with application to autonomous flying
Backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers in this thesis and is validated through various flight experiments conducted on the OS4.
Design of a four-rotor aerial robot
The design and fabrication of a prototype four-rotor vertical take-off and landing (VTOL) aerial robot for use as indoor experimental robotics platform is presented. The flyer is termed an X4-flyer.
An embedded vision system for an unmanned four-rotor helicopter
In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement,
Vision-based pose estimation and control of a model helicopter
  • E. AltugC. Taylor
  • Computer Science
    Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM '04.
  • 2004
The proposed pose estimation algorithm and non-linear control techniques have been implemented on a remote controlled model helicopter and are shown to be less sensitive to feature detection errors.
Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patterns
We present the vision-based estimation and control of a quadrotor vehicle using a single camera relative to a novel target that incorporates the use of moire patterns. The objective is to acquire the
Visual Control of a Miniature Quad-Rotor Helicopter
  • Visual Control of a Miniature Quad-Rotor Helicopter
  • 2006