Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)
116 Downloads (Pure)

Abstract

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.
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages244-249
DOIs
Publication statusPublished - 14 Dec 2017

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