Autonomous exploration and navigation strategies for MAVs

Sai Vemprala, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Micro Aerial Vehicles (MAV) are becoming increasingly popular as widely applicable robotic platforms for various tasks. For effectively complementing human tasks, a strong layer of autonomy is important for the platform. Unlike ground robots, MAVs are not limited to two dimensions, but this advantage also creates additional complexity in implementing various concepts such as estimation and control as well as linking them together. This paper outlines a solution pipeline that provides an integrated and modular framework for achieving state estimation, mapping and navigation capabilities, which can be used for a complete autonomous exploration capacity on a MAV platform. The implementation was tested both in simulation and partly on a real MAV that was custom built with off-the-shelf equipment for this purpose.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
PublisherAmerican Helicopter Society International
Pages194-199
Number of pages6
ISBN (Print)9781510810129
StatePublished - 2015
Event6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations - Chandler, United States
Duration: Jan 20 2015Jan 22 2015

Other

Other6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
CountryUnited States
CityChandler
Period1/20/151/22/15

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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    Vemprala, S., & Saripalli, S. (2015). Autonomous exploration and navigation strategies for MAVs. In American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations (pp. 194-199). American Helicopter Society International.