Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Towards a navigation system for autonomous indoor flying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
RANGE–Robust autonomous navigation in GPS-denied environments
Journal of Field Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
A Fully Autonomous Indoor Quadrotor
IEEE Transactions on Robotics
Journal of Intelligent and Robotic Systems
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This paper presents an open-source indoor navigation system for quadrotor micro aerial vehicles (MAVs), implemented in the ROS framework. The system requires a minimal set of sensors including a planar laser range-finder and an inertial measurement unit. We address the issues of autonomous control, state estimation, path-planning, and teleoperation, and provide interfaces that allow the system to seamlessly integrate with existing ROS navigation tools for 2D SLAM and 3D mapping. All components run in real time onboard the MAV, with state estimation and control operating at 1 kHz. A major focus in our work is modularity and abstraction, allowing the system to be both flexible and hardware-independent. All the software and hardware components which we have developed, as well as documentation and test data, are available online.