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We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation...
In the last decade, consumer electronic devices such as smartphones, are packaged with small cameras, gyroscopes, and accelerometers, all sensors allowing autonomous deployment of aerial robots in GPS-denied environments. Our previous work [1], demonstrated the feasibility of using smartphones for autonomous flight. In many applications, there is a large interest to the use multiple autonomous aerial...
Consumer grade technology seen in cameras and phones has led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, most devices are packaged with a camera, a gyroscope, and an accelerometer, important sensors for aerial robotics. The low mass and small form factor make them particularly well suited for autonomous flight with small flying...
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