ICUAS 2021 Paper Abstract

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Paper FrA1.5

Schleich, Daniel (University of Bonn), Beul, Marius (University of Bonn), Quenzel, Jan (University of Bonn), Behnke, Sven (University of Bonn)

Autonomous Flight in Unknown GNSS-Denied Environments for Disaster Examination

Scheduled for presentation during the Regular Session "Autonomy I" (FrA1), Friday, June 18, 2021, 10:20−10:40, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords UAS Applications, Autonomy, Integration

Abstract

Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone, especially in stressful situations of real emergencies. The conditions of disaster scenarios are also challenging for autonomous MAV systems. The environment is usually not known in advance and GNSS might not always be available.

We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems. The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.

 

 

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