DocumentCode
10210
Title
Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments
Author
Shaojie Shen ; Michael, Nathan ; Kumar, Vipin
Author_Institution
Univ. of Pennsylvania, Philadelphia, PA, USA
Volume
20
Issue
4
fYear
2013
fDate
Dec. 2013
Firstpage
40
Lastpage
48
Abstract
In this article, we consider the problem of autonomous navigation with a microaerial vehicle (MAV) in three-dimensional (3-D) confined indoor environments with multiple floors. We present experimental results with ground truth comparisons and performance analysis. We also highlight field experiments in multiple environments.
Keywords
autonomous aerial vehicles; path planning; 3D confined indoor environments; MAV; autonomous navigation; liftoff indoors; microaerial vehicle; three-dimensional confined indoor environments; Aircraft navigation; Indoor environments; Simultaneous localization and mapping; Three dimensional displays; Unmanned aerial vehicles;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2013.2253172
Filename
6678604
Link To Document