Slawomir Sander (Grzonka)

Slawomir Grzonka, Giorgio Grisetti and Wolfram Burgard

A Fully Autonomous Indoor Quadrotor
Recently there has been an increased interest in 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, where the systems cannot rely on GPS and therefore have to use their exteroceptive sensors for navigation. In this paper we present a general navigation system which enables a small-sized quadrotor system to autonomously operate in indoor environments. To achieve this, we systematically extend and adapt techniques which have been successfully applied on ground robots. We describe all algorithms and present a broad set of experiments illustrating that they enable a quadrotor robot to reliably and autonomously navigate in indoor environments.


author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
title = {{A Fully Autonomous Indoor Quadrotor}},
journal = IEEE Transactions on Robotics (T-RO),
number = {1},
month = {2},
volume = {8},
year = {2012},
pages = {90--100}

Document (pdf file):

full paper