Fast, autonomous flight in GPS‐denied and cluttered environments

• Published in: Journal of field robotics Vol. 35; no. 1; pp. 101 - 120
• Main Authors: Mohta, Kartik, Watterson, Michael, Mulgaonkar, Yash, Liu, Sikang, Qu, Chao, Makineni, Anurag, Saulnier, Kelsey, Sun, Ke, Zhu, Alex, Delmerico, Jeffrey, Karydis, Konstantinos, Atanasov, Nikolay, Loianno, Giuseppe, Scaramuzza, Davide, Daniilidis, Kostas, Taylor, Camillo Jose, Kumar, Vijay
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.01.2018
• Subjects: aerial robotics; Autonomous navigation; collision avoidance; field robots; Flight; Global positioning systems; GPS; localization; mapping; motion and path planning; motion control; Robots; Robustness (mathematics); Satellite navigation systems; sensor fusion; Systems design

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe th...