ICRA 2011 Paper Abstract

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Paper WeAV115.5

Shen, Shaojie (University of Pennsylvania), Michael, Nathan (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained Micro Aerial Vehicle

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 08:52−09:00, Room 3A

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 December 8, 2019

Keywords Aerial Robotics, Autonomous Navigation, SLAM

Abstract

We consider the problem of autonomous navigation with a micro aerial vehicle (MAV) in indoor environments. In particular, we are interested in autonomous navigation in buildings with multiple floors. To ensure that the robot is fully autonomous, we require all computation to occur on the robot without need for external infrastructure, communication, or human interaction beyond high-level commands. Therefore, we pursue a system design and methodology capable of autonomous navigation with real-time performance on a mobile processor using only onboard sensors. Specifically, we address multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances. We present experimental results that demonstrate multi-floor indoor navigation.

 

 

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