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Type Journal Article
Scope Discipline-based scholarship
Title Fast, autonomous flight in GPS-denied and cluttered environments
Organization Unit
Authors
  • Kartik Mohta
  • Michael Watterson
  • Yash Mulgaonkar
  • Sikang Liu
  • Chao Qu
  • Anurag Makineni
  • Kelsey Saulnier
  • Ke Sun
  • Alex Zhu
  • Jeffrey Delmerico
  • Konstantinos Karydis
  • Nikolay Atanasov
  • Giuseppe Loianno
  • Davide Scaramuzza
  • Kostas Daniilidis
  • Camillo Jose Taylor
  • Vijay Kumar
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Journal Title Journal of Field Robotics
Publisher Wiley-Blackwell Publishing, Inc.
Geographical Reach international
ISSN 1556-4959
Volume 35
Number 1
Page Range 101 - 120
Date 2018
Abstract Text One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.
Official URL https://arxiv.org/pdf/1712.02052
Digital Object Identifier 10.1002/rob.21774
Other Identification Number merlin-id:18687
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