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Please use this identifier to cite or link to this item: https://doi.org/10.1109/tie.2020.3008378
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dc.titleTowards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments
dc.contributor.authorZhou, Yu
dc.contributor.authorLai, Shupeng
dc.contributor.authorCheng, Huimin
dc.contributor.authorAbdul Hamid, Mohamed Redhwan
dc.contributor.authorWang, Pengfei
dc.contributor.authorZhu, Junji
dc.contributor.authorGao, Zhi
dc.contributor.authorMa, Zhengtian
dc.contributor.authorBi, Yingcai
dc.contributor.authorLin, Feng
dc.contributor.authorChen, Ben M
dc.date.accessioned2020-07-27T09:24:24Z
dc.date.available2020-07-27T09:24:24Z
dc.date.issued2020-07-25
dc.identifier.citationZhou, Yu, Lai, Shupeng, Cheng, Huimin, Abdul Hamid, Mohamed Redhwan, Wang, Pengfei, Zhu, Junji, Gao, Zhi, Ma, Zhengtian, Bi, Yingcai, Lin, Feng, Chen, Ben M (2020-07-25). Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments. IEEE Transactions on Industrial Electronics : 1-1. ScholarBank@NUS Repository. https://doi.org/10.1109/tie.2020.3008378
dc.identifier.issn02780046
dc.identifier.issn15579948
dc.identifier.urihttps://scholarbank.nus.edu.sg/handle/10635/171731
dc.description.abstractIn this paper, we present a comprehensive design and implementation for a micro aerial vehicle (MAV) that is able to perform 3D autonomous navigation and obstacle avoidance in cluttered and realistic unknown environments without the aid of GPS and other external sensors or markers. To achieve these autonomous missions, modularized components are developed for the MAV, including visual inertial odometry (VIO), 3D occupancy mapping and motion planning. The proposed system is implemented to run on a small embedded computer in real-time. It is demonstrated to be robust in both simulation and real flight experiments. The demonstration video is available at: https://youtu.be/KUKzsnORm-4.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.sourceElements
dc.typeArticle
dc.date.updated2020-07-25T09:12:28Z
dc.contributor.departmentELECTRICAL AND COMPUTER ENGINEERING
dc.contributor.departmentTEMASEK LABORATORIES
dc.description.doi10.1109/tie.2020.3008378
dc.description.sourcetitleIEEE Transactions on Industrial Electronics
dc.description.page1-1
dc.published.statePublished
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