Fly-inspired visual steering of an ultralight indoor aircraft

Authors:
J. -C. Zufferey;D. Floreano
Affiliations:
Ecole Polytechnique Fed. de Lausanne, Lab. of Intelligent Syst., Lausanne, Switzerland;-
Venue:
IEEE Transactions on Robotics
Year:
2006

Citing 0
Cited 17

Evolving Vision Controllers with a Two-Phase Genetic Programming System Using Imitation

SAB '08 Proceedings of the 10th international conference on Simulation of Adaptive Behavior: From Animals to Animats
Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles

Robotics and Autonomous Systems
Implementation of wide-field integration of optic flow for autonomous quadrotor navigation

Autonomous Robots
Vision-based control of near-obstacle flight

Autonomous Robots
An adaptive vision-based autopilot for mini flying machines guidance, navigation and control

Autonomous Robots
Development of a flying robot with a pantograph-based variable wing mechanism

IEEE Transactions on Robotics
The Vision System of the ACROBOTER Project

ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Optical flow on a flapping wing robot

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A stereo vision system for UAV guidance

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bioinspired visuomotor convergence

IEEE Transactions on Robotics
A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow

Autonomous Robots
Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM

Journal of Intelligent and Robotic Systems
Survey of Motion Planning Literature in the Presence of Uncertainty: Considerations for UAV Guidance

Journal of Intelligent and Robotic Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

Journal of Field Robotics
Adjustable linear models for optic flow based obstacle avoidance

Computer Vision and Image Understanding

Quantified Score

Hi-index	0.00

Visualization

Abstract

We aim at developing autonomous microflyers capable of navigating within houses or small indoor environments using vision as the principal source of information. Due to severe weight and energy constraints, inspiration is taken from the fly for the selection of sensors, for signal processing, and for the control strategy. The current 30-g prototype is capable of autonomous steering in a 16×16 m textured environment. This paper describes models and algorithms which allow for efficient course stabilization and collision avoidance using optic flow and inertial information.