Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback
International Journal of Robotics Research
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Improving the Agility of Keyframe-Based SLAM
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part II
SBA: A software package for generic sparse bundle adjustment
ACM Transactions on Mathematical Software (TOMS)
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Real-time stabilization of an eight-rotor UAV usingoptical flow
IEEE Transactions on Robotics
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Autonomous indoor helicopter flight using a single onboard camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Monocular vision SLAM for indoor aerial vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Landing, perching and taking off from vertical surfaces
International Journal of Robotics Research
Supermaneuverable perching
Approaches for a tether-guided landing of an autonomous helicopter
IEEE Transactions on Robotics
A Practical Visual Servo Control for an Unmanned Aerial Vehicle
IEEE Transactions on Robotics
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This paper presents the design and development of autonomous attitude stabilization, navigation in unstructured, GPS-denied environments, aggressive landing on inclined surfaces, and aerial gripping using onboard sensors on a low-cost, custom-built quadrotor. The development of a multi-functional micro air vehicle (MAV) that utilizes inexpensive off-the-shelf components presents multiple challenges due to noise and sensor accuracy, and there are control challenges involved with achieving various capabilities beyond navigation. This paper addresses these issues by developing a complete system from the ground up, addressing the attitude stabilization problem using extensive filtering and an attitude estimation filter recently developed in the literature. Navigation in both indoor and outdoor environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. The system utilizes nested controllers for attitude stabilization, vision-based navigation, and guidance, with the navigation controller implemented using a nonlinear controller based on the sigmoid function. The efficacy of the approach is demonstrated by maintaining a stable hover even in the presence of wind gusts and when manually hitting and pulling on the quadrotor. Precision landing on inclined surfaces is demonstrated as an example of an aggressive maneuver, and is performed using only onboard sensing. Aerial gripping is accomplished with the addition of a secondary camera, capable of detecting infrared light sources, which is used to estimate the 3D location of an object, while an under-actuated and passively compliant manipulator is designed for effective gripping under uncertainty.The quadrotor is therefore able to autonomously navigate inside and outside, in the presence of disturbances, and perform tasks such as aggressively landing on inclined surfaces and locating and grasping an object, using only inexpensive, onboard sensors.