Autonomous indoor 3D exploration with a micro-aerial vehicle


In this paper, we propose a stochastic differential equation-based exploration algorithm to enable exploration in three-dimensional indoor environments with a payload constrained micro-aerial vehicle (MAV). We are able to address computation, memory, and sensor limitations by considering only the known occupied space in the current map. We determine regions… (More)
DOI: 10.1109/ICRA.2012.6225146


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