TY - GEN
T1 - Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments
AU - Mcguire, Kimberly
AU - Coppola, Mario
AU - de Wagter, Christophe
AU - de Croon, Guido
PY - 2017/12/14
Y1 - 2017/12/14
N2 - Pocket-drones are inherently safe for flight near humans, and their small size allows maneuvering through narrow indoor environments. However, achieving autonomous flight of pocket-drones is challenging because of strict on-board hardware limitations. Further challenges arise when multiple pocket-drones operate as a team and need to coordinate their movements. This paper presents a set-up that can achieve autonomous flight in an indoor environment with avoidance of both static obstacles and other pocket-drones.The pocket-drones use only on-board sensing and processing implemented on a STM32F4 microprocessor (168 MHz). Experiments were conducted with two 40g pocket-drones flying autonomously in a real-world office while avoiding walls, obstacles, and each-other.
AB - Pocket-drones are inherently safe for flight near humans, and their small size allows maneuvering through narrow indoor environments. However, achieving autonomous flight of pocket-drones is challenging because of strict on-board hardware limitations. Further challenges arise when multiple pocket-drones operate as a team and need to coordinate their movements. This paper presents a set-up that can achieve autonomous flight in an indoor environment with avoidance of both static obstacles and other pocket-drones.The pocket-drones use only on-board sensing and processing implemented on a STM32F4 microprocessor (168 MHz). Experiments were conducted with two 40g pocket-drones flying autonomously in a real-world office while avoiding walls, obstacles, and each-other.
UR - http://resolver.tudelft.nl/uuid:4e97ce0f-9fc9-4b05-8b93-48be875c81f0
U2 - 10.1109/IROS.2017.8202164
DO - 10.1109/IROS.2017.8202164
M3 - Conference contribution
SN - 978-1-5386-2682-5
SP - 244
EP - 249
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ER -