Autonomous Navigation and Exploration of a Quadrotor Helicopter in GPS-denied Indoor Environments

@inproceedings{Achtelik2009AutonomousNA,
  title={Autonomous Navigation and Exploration of a Quadrotor Helicopter in GPS-denied Indoor Environments},
  author={Markus Achtelik and Abraham Bachrach and Ruijie He and Samuel J. Prentice and Nicholas Roy},
  year={2009}
}
This paper presents our solution for enabling a quadrotor he licopter to autonomously navigate, explore and locate objects of interest in unstructured and unknown i ndoor environments. We describe the design and operation of our quadrotor helicopter, before pres enting the software architecture and individual algorithms necessary for executing the mission. Experimen tal results are presented demonstrating the quadrotor’s ability to operate autonomously in indoor envi ronments. Finally, we… CONTINUE READING

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