Autonomous exploration and navigation strategies for MAVs
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2015 by the American Helicopter Society International, Inc. All rights reserved. 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.
American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
