Robust adaptive control
Real-time implementation of airborne inertial-SLAM
Robotics and Autonomous Systems
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Vision-Based Odometry and SLAM for Medium and High Altitude Flying UAVs
Journal of Intelligent and Robotic Systems
Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles
Robotics and Autonomous Systems
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose estimation method for environments and situations in which GPS is unavailable. The developed visual odometer is an incremental procedure that estimates the vehicle's ego-motion by extracting and tracking visual features, using an onboard camera. For more robustness and accuracy, the visual estimates are fused with measurements from an Inertial Measurement Unit (IMU) and a Pressure Sensor Altimeter (PSA) in order to provide accurate estimates of the vehicle's height, velocity and position relative to a given location. These estimates are then exploited by a nonlinear hierarchical controller for achieving various navigation tasks such as take-off, landing, hovering, target tracking, etc. In addition to the odometer description, the paper presents validation results from autonomous flights using a small quadrotor UAV.