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    Final published version, 539 KB, PDF document

In the field of robotics, a major challenge is achieving high levels of autonomy with small vehicles that have limited mass and power budgets. The main motivation for designing such small vehicles is that, compared to their larger counterparts, they have the potential to be safer, and hence be available and work together in large numbers. One of the key components in micro robotics is efficient software design to optimally utilize the computing power available. This paper describes the computer vision and control algorithms used to achieve autonomous flight with the _30-gram tailless flapping wing robot, used to participate in the IMAV 2018 indoor micro air vehicle competition. Several tasks are discussed: line following, and circular gate detection and fly-through. The emphasis throughout this paper is on augmenting traditional techniques with the goal to make these methods work with limited computing power while obtaining robust behaviour.
Original languageEnglish
Title of host publicationInternational Micro Air Vehicle Competition and Conference
Number of pages7
Publication statusPublished - 2019
EventInternational Micro Air Vehicle Competition and Conference 2019 - Madrid, Spain
Duration: 30 Sep 20194 Oct 2019
Conference number: 11
http://www.imavs.org/2019/

Conference

ConferenceInternational Micro Air Vehicle Competition and Conference 2019
Abbreviated titleIMAV 2019
CountrySpain
CityMadrid
Period30/09/194/10/19
Internet address

ID: 69002654