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Pre-print version, published at MAV07 (EMAV2007) Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

By James F. Roberts, Timothy S. Stirling, Jean-christophe Zufferey and Dario Floreano


Abstract — This paper presents a Miniature Aerial Vehicle (MAV) capable of handsoff autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control. This MAV is equipped with three rate gyroscopes, three accelerometers, one ultrasonic sensor, four infrared sensors, a high-speed motor controller and a flight computer. Autonomous flight tests have been carried out in a 7x6-m room. I

Year: 2010
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