Critical subsystem failure mitigation in an indoor UAV testbed

Abstract

An autonomous safety mechanism is presented, as implemented in an indoor flying vehicle research testbed. The safety mechanism relies on integration of onboard gyroscope measurements and thrust commands to estimate the vehicle state for short lengths of time. It is used in the case of loss of external control signal or loss of external measurement data, to… (More)
DOI: 10.1109/IROS.2012.6385910

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