Examples of quadrocopter control on ROS

In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used. In this system, firstly, the pose estimation based on SLAM (simultaneous localization and mapping) is used^[4][7]. Secondly, extended Kalman filter is used to compensate the delay due to data communications and computations. Thirdly, a PID controller is used to control the drone´s position and orientation^[13][3]. The second example to be studiedis the Ardrone could be simply controlled by a human hand that fulfilled by using a leap motion controller with hand gestures and the controller is connected to ROS platform^[10] under Ubuntu.