RANGE - Robust autonomous navigation in GPS-denied environments
Name
Roy-2010-RANGE - Robust Autonomous Navigation in GPS-denied Environments.pdf
Size
569.47 KB
Format
Adobe PDF
Checksum (MD5)
9180bc40f8b2cddf475b90fccf923da5
Author(s)
Bachrach, Abraham Galton
De Winter, Anton
He, Ruijie
Hemann, Garrett A.
Prentice, Samuel James
Roy, Nicholas
Date Issued
July 2010
Journal
Proceedings for 2010 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Bachrach, A. et al. “RANGE - Robust Autonomous Navigation in GPS-denied Environments.” Robotics and Automation (ICRA), 2010 IEEE International Conference On. 2010. 1096-1097.© 2010 IEEE.
Version
Final published version
Abstract
This video highlights our system that enables a Micro Aerial Vehicle (MAV) to autonomously explore and map unstructured and unknown GPS-denied environments. While mapping and exploration solutions are now well-established for ground vehicles, air vehicles face unique challenges which have hindered the development of similar capabilities. Although there has been recent progress toward sensing, control, and navigation techniques for GPS-denied flight, there have been few demonstrations of stable, goal-directed flight in real-world environments. Our system leverages a multi-level sensing and control hierarchy that matches the computational complexity of the component algorithms with the real-time needs of a MAV to achieve autonomy in unconstrained environments.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509990
