Sampedro, Carlos (University), Bavle, Hriday (PhD student at universidad politecnica de Madrid), Rodríguez-Ramos, Alejandro (PhD student at universidad politecnica de Madrid), Carrio, Adrian (Universidad Politecnica de Madrid), Suárez Fernández, Ramón A. (Universidad Politecnica de Madrid), Sanchez-Lopez, Jose Luis (CSIC - Universidad Politecnica de Madrid, Centro de Automatica y), Campoy, Pascual (Universidad Politecnica Madrid)

A Fully-Autonomous Aerial Robotic Solution for the 2016 International Micro Air Vehicle Competition

Scheduled for presentation during the "UAS Applications - V" (ThB4), Thursday, June 15, 2017, 13:45−14:05, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects, landing autonomously on a moving platform, etc. For solving the aforementioned missions, a fully-autonomous quadrotor aerial robot has been designed, based on a complete hardware configuration and a versatile software architecture, which allows the aerial robot to complete all the missions in a fully autonomous and consecutive manner. A thorough evaluation of the proposed system has been carried out in both simulated flights, using the Gazebo simulator in combination with PX4 Software-In-The-Loop, and real flights, demonstrating the appropriate capabilities of the proposed system for performing high-level missions and its flexibility for being adapted to a wide variety of applications.