Slawomir Sander (Grzonka)

Slawomir Grzonka, Giorgio Grisetti and Wolfram Burgard

Towards a Navigation System for Autonomous Indoor Flying
Recently there has been increasing research on the development of autonomous flying vehicles. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper we present a general system consisting of sensors and algorithms which enables a small sized flying vehicle to operate indoors. This is done by adapting techniques which have been successfully applied on ground robots. We released our system as open-source with the intention to provide the community with a new framework for building applications for indoor flying robots. We present a set of experiments to validate our system on an open source quadrotor.


author = {Grzonka, Slawomir and Grisetti, Giorgio and Burgard, Wolfram},
title = {Towards a Navigation System for Autonomous Indoor Flying},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
year = {2009},
address = {Kobe, Japan}

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