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.