276
Views
10
CrossRef citations to date
0
Altmetric
Full papers

Multi-Sensory Motion Estimation and Control of an Autonomous Quadrotor

, , &
Pages 1493-1514 | Published online: 02 Apr 2012

References

  • Zhang , T. , Kang , Y. , Achtelik , M. , Kühnlenz , K. and Buss , M. 2009 . “ Autonomous hovering of a vision/ IMU guided quadrotor ” . In Proc. IEEE Int. Conf. on Mechatronics and Automation (ICMA 2009) 2870 – 2875 . Changchun
  • Zhang , T. , Li , W. , Achtelik , M. , Kühnlenz , K. and Buss , M. 2009 . “ Multi-sensory motion-estimation and control of a mini-quadrotor in an air-ground multi-robot system ” . In Proc. Int. Conf. on Robotics and Biomimetics 45 – 50 . Guilin
  • Achtelik , M. , Zhang , T. , Kühnlenz , K. and Buss , M. 2009 . “ Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors ” . In Proc. Int. Conf. on Mechatronics and Automation (ICMA 2009) 2863 – 2869 . Changchun
  • Mokhtari , A. , M'sirdi , N. K. , Meghriche , K. and Belaidi , A. 2006 . Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle . Adv. Robotics , 20 : 71 – 92 .
  • Soumelidis , A. , Gaspar , P. , Regula , G. and Lantos , B. 2008 . “ Control of an experimental mini quad-rotor UAV ” . In Proc. Mediterranean Conf. on Control and Automation 1252 – 1257 . Ajaccio
  • Ettinger , S. M. , Nechyba , M. C. , Ifju , P. G. and Waszak , M. 2003 . Vision-guided flight stability and control for micro air vehicles . Adv. Robotics , 17 : 641 – 656 .
  • Altug , E. , Ostrowski , J. P. and Taylor , C. J. 2005 . Control of a quadrotor helicopter using dual camera visual feedback . Int. J. Robotics Res. , 24 : 329 – 341 .
  • Kemp , C. 2006 . “ Visual control of a miniature quad-rotor helicopter ” . In PhD Thesis , Churchill College, University of Cambridge .
  • Tournier , G. P. , Valenti , M. and How , J. P. 2006 . “ Estimation and control of a quadrotor vehicle using monocular vision and moire patterns ” . In Proc. AIAA Guidance, Navigation and Control Conference and Exhibit 6711 – 6726 . Keystone , CO
  • Guenard , N. , Hamel , T. and Mahony , R. 2008 . A practical visual servo control for an unmanned aerial vehicle . IEEE Trans. Robotics , 24 : 331 – 340 .
  • Mkrtchyan , A. A. , Schultz , R. R. and Semke , W. H. 2009 . “ Vision-based autopilot implementation using a quadrotor helicopter ” . In Proc. Aerospace Conf 1831 – 1843 . Seattle , WA
  • Herisse , B. , Hamel , T. , Mahony , R. and Russotto , F. X. 2009 . “ A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow ” . In Proc. Int. Conf. on Robotics and Automation 3251 – 3257 . Kobe
  • Lucas , B. D. and Kanade , T. 1981 . “ An iterative image registration technique with an application to stereo vision ” . In Proc. Int. Joint Conf. on Artificial Intelligence 674 – 679 . Vancouver
  • Courbon , J. , Mezouar , Y. , Guenard , N. and Martinet , P. 2009 . “ Visual navigation of a quadrotor aerial vehicle ” . In Proc. Int. Conf. on Intelligent Robots and Systems 5315 – 5320 . St. Louis , MO
  • Amidi , O. , Kanade , T. and Fujita , K. 1999 . A visual odometer for autonomous helicopter flight . J. Robotics Autonomous Syst. , 28 : 185 – 193 .
  • Kelly , J. , Saripalli , S. and Sukhatme , G. S. 2008 . Field and Service Robotics , Berlin : Springer .
  • Achtelik , M. , Bachrach , A. , He , R. , Prentice , S. and Roy , N. 2009 . “ Autonomous navigation and exploration of a quadrotor helicopter in GPS-denied indoor environments ” . In Proc. 1st Symp. on Indoor Flight Issues 1 – 12 . Puerto Rico
  • Bouabdallah , S. 2007 . “ Design and control of quadrotors with application to autonomous flying ” . In PhD Thesis , Lausanne : EPFL .
  • Euston , M. , Coote , P. , Mahony , R. , Kim , J. and Hamel , T. 2008 . “ A complementary filter for attitude estimation of a fixed-wing UAV ” . In Proc. Int. Conf. on Robots and Systems 340 – 345 . Nice
  • Zhang , T. , Liu , X. , Kühnlenz , K. and Buss , M. 2009 . “ Visual odometry for the autonomous city explorer ” . In Proc. Int. Conf. on Intelligent Robots and Systems 3513 – 3518 . St. Louis , MO
  • Roumeliotis , S. I. , Johnson , A. E. and Montgomery , J. F. 2002 . “ Augmenting inertial navigation with image-based motion estimation ” . In Proc. Int. Conf. on Robotics and Automation 4326 – 4333 . Washington , DC
  • Wu , A. D. , Johnson , E. N. and Proctor , A. A. 2005 . “ Vision-aided inertial navigation for flight control ” . In Proc. AIAA Guidance, Navigation and Control Conf. and Exhibit 2005 – 2017 . San Francisco , CA
  • Ababsa , F. E. and Mallem , M. 2007 . Hybrid three-dimensional camera pose estimation using particle filter sensor fusion . Adv. Robotics , 21 : 165 – 181 .
  • Bourquardez , O. , Mahony , R. , Guenard , N. , Chaumette , F. , Hamel , T. and Eck , L. 2009 . Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle . IEEE Trans. Robotics , 25 : 743 – 749 .
  • Huang , G. , Rad , A. B. , Wong , Y. and Ip , Y. L. 2007 . Heterogeneous multisensor fusion for mapping dynamic environments . Adv. Robotics , 21 : 661 – 688 .
  • Mitchell , H. B. 2007 . Multi-Sensor Data Fusion: An Introduction , Berlin : Springer .
  • Rehbinder , H. and Ghosh , B. K. 2001 . “ Multi-rate fusion of visual and inertial data ” . In Proc. Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems 97 – 102 . Baden-Baden
  • Gurdan , D. , Stumpf , J. , Achtelik , M. , Doth , K.-M. , Hirzinger , G. and Rus , D. 2007 . “ Energy-efficient autonomous four-rotor flying robot controlled at 1 kHz ” . In Proc. IEEE Int. Conf. on Robotics and Automation 361 – 366 . Rome
  • Corke , P. , Lobo , J. and Dias , J. 2007 . An introduction to inertial and visual sensing . Int. J. Robotics Res. , 26 : 219 – 535 .
  • Abbeel , P. , Coates , A. , Montemerlo , M. , Ng , A. Y. and Thrun , S. 2005 . “ Discrimitive training of Kalman filters ” . In Proc. Robotics: Science and System 38 – 45 . Cambridge

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.