Robotics: Science and Systems IX

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor

Shaojie Shen, Yash Mulgaonkar, Nathan Michael, Vijay Kumar

Abstract:

This paper addresses the development of a light-weight 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 degrees. The performance of the proposed system is demonstrated via challenging experiments in three dimensional indoor environments.

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Bibtex:

  
@INPROCEEDINGS{Shen-RSS-13, 
    AUTHOR    = {Shaojie Shen AND Yash Mulgaonkar AND Nathan Michael AND Vijay Kumar}, 
    TITLE     = {Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2013}, 
    ADDRESS   = {Berlin, Germany}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2013.IX.032} 
}