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Our group has developed some of the first fully autonomous micro air vehicle systems that are capable of self directed exploration in GPS-Denied Environments. The vehicles leverage simultaneous localization and mapping (SLAM) algorithms to localize itself and build maps of the surrounding environments.

State-Estimation For Agressive Flight

Recently, we have developed a system that enables a fixed wing vehicle to localize in a known map, and fly autonomously using only a 2D laser scanner fused with an IMU. All processing is done onboard the vehicle.

Visual Odometry For GPS-Denied Flight

Our group has developed a system that allows our quadrotors to fly autonomously using only a stereo camera or Microsoft Kinect sensor, fused with the IMU. All processing is done onboard the vehicle.

Laser Scan Matching For GPS-Denied Flight

We have developed a flight system based around position estimation using laser scan matching to localize the vehicle.