ICRA 2011 Paper Abstract


Paper WeA201.1

Li, Wei (RWTH Aachen), Zhang, Tianguang (Technische Universität München), Kühnlenz, Kolja (Technische Universität München)

A Vision-Guided Autonomous Quadrotor in an Air-Ground Multi-Robot System

Scheduled for presentation during the Regular Sessions "Aerial Robotics IV" (WeA201), Wednesday, May 11, 2011, 10:05−10:20, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Aerial Robotics, Visual Tracking, Sensor Fusion


In this paper, a vision-guided autonomous quadrotor in an air-ground multi-robot system has been proposed. This quadrotor is equipped with a monocular camera, IMUs and a flight computer, which enables autonomous flights. Two complementary pose/motion estimation methods, respectively marker-based and optical-flow-based, are developed by considering different altitudes in a flight. To achieve smooth take-off, stable tracking and safe landing with respect to a moving ground robot and desired trajectories, appropriate controllers are designed. Additionally, data synchronization and time delay compensation are also applied to improve the system performance. Real-time experiments are conducted in both indoor and outdoor environments.



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