Title :
Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments
Author :
Shaojie Shen ; Michael, Nathan ; Kumar, Vipin
Author_Institution :
Univ. of Pennsylvania, Philadelphia, PA, USA
Abstract :
In this article, we consider the problem of autonomous navigation with a microaerial vehicle (MAV) in three-dimensional (3-D) confined indoor environments with multiple floors. We present experimental results with ground truth comparisons and performance analysis. We also highlight field experiments in multiple environments.
Keywords :
autonomous aerial vehicles; path planning; 3D confined indoor environments; MAV; autonomous navigation; liftoff indoors; microaerial vehicle; three-dimensional confined indoor environments; Aircraft navigation; Indoor environments; Simultaneous localization and mapping; Three dimensional displays; Unmanned aerial vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2013.2253172
