Multilayered Mapping and Navigation for Autonomous Micro Aerial Vehicles

  title={Multilayered Mapping and Navigation for Autonomous Micro Aerial Vehicles},
  author={David Droeschel and Matthias Nieuwenhuisen and Marius Beul and Dirk Holz and J{\"o}rg St{\"u}ckler and Sven Behnke},
  journal={J. Field Robotics},
Micro aerial vehicles, such as multirotors, are particularly well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance or disaster management. Key prerequisites for the fully autonomous operation of micro aerial vehicles are real-time obstacle detection and planning of collision-free trajectories. In this article, we propose a complete system with a multimodal sensor setup for omnidirectional obstacle perception consisting of a 3D laser scanner… CONTINUE READING
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