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 KumarAbstract:
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 quadrotorâs 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.
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} }