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Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments

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3 Author(s)
Shaojie Shen ; Univ. of Pennsylvania, Philadelphia, PA, USA ; Nathan Michael ; Vijay Kumar

In this article, we consider the problem of autonomous navigation with a microaerial vehicle (MAV) in three-dimensional (3-D) confined indoor environments with multiple floors. We present experimental results with ground truth comparisons and performance analysis. We also highlight field experiments in multiple environments.

Published in:

IEEE Robotics & Automation Magazine  (Volume:20 ,  Issue: 4 )