ICRA'09 Paper Abstract


Paper FrD5.3

Grzonka, Slawomir (Albert-Ludwigs-University of Freiburg), Grisetti, Giorgio (Unviersität Freiburg), Burgard, Wolfram (University of Freiburg)

Towards a Navigation System for Autonomous Indoor Flying

Scheduled for presentation during the Regular Sessions "Aerial Navigation" (FrD5), Friday, May 15, 2009, 16:10−16:30, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Aerial Robotics, Mapping, Localization


Recently there has been increasing research on the development of autonomous flying vehicles. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper we present a general system consisting of sensors and algorithms enabling a small sized flying vehicle to operate indoors. This is done by adapting techniques which have been successfully applied on ground robots. We released our system as open-source with the intention to provide the community with a new framework for building applications for indoor flying robots. We present a set of experiments to validate our system on an open source quadrotor.



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