Fast, autonomous flight in GPS‐denied and cluttered environments

@article{Mohta2018FastAF,
  title={Fast, autonomous flight in GPS‐denied and cluttered environments},
  author={Kartik Mohta and Michael Watterson and Yash Mulgaonkar and Sikang Liu and Chao Qu and Anurag Makineni and Kelsey Saulnier and Ke Sun and Alex Zihao Zhu and Jeffrey A. Delmerico and Konstantinos Karydis and Nikolay A. Atanasov and Giuseppe Loianno and Davide Scaramuzza and Kostas Daniilidis and Camillo Jose Taylor and Vijay R. Kumar},
  journal={Journal of Field Robotics},
  year={2018},
  volume={35},
  pages={101 - 120}
}
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on… 
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