Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '13), June, 2013
Abstract
This paper addresses the development of a lightweight autonomous quadrotor that uses cameras and an inexpensive IMU as its only sensors and onboard processors for estimation and control. We describe a fully-functional, integrated system with a focus on robust visual-inertial state estimation, and demonstrate the quadrotor’s ability to autonomously travel at speeds up to 4 m/s and roll and pitch angles exceeding 20◦. The performance of the proposed system is demonstrated via challenging experiments in three dimensional indoor environments.
BibTeX
@conference{Shen-2013-17142,author = {S. Shen and Y. Mulgaonkar and Nathan Michael and V. Kumar},
title = {Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor},
booktitle = {Proceedings of Robotics: Science and Systems (RSS '13)},
year = {2013},
month = {June},
}
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