Autonomous flight at low altitude using light sensors and little computational power

International Journal of Micro Air Vehicles

Volumn 2, Issue 2, 2010, Pages 107-117

  Zufferey, Jean Christophe ^a   Beyeler, Antoine ^b   Floreano, Dario ^b  

^a EPFL   (Switzerland)

^b SenseFly   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT ACCIDENTS; AIRCRAFT CONTROL; FORESTRY;

AUTONOMOUS FLIGHT; COMPUTATIONAL POWER; CONTROL STRATEGIES; FLYING PLATFORMS; REACTIVE NAVIGATION; SMALL UNMANNED AIRCRAFTS; UNMANNED AIRCRAFTS; VIEWING DIRECTIONS;

AIRCRAFT;

AIR CRAFT; REMOTE CONTROL; SENSORS;

EID: 77957835771     PISSN: 17568293     EISSN: 17568307     Source Type: Journal    
DOI: 10.1260/1756-8293.2.2.107     Document Type: Article

References (26)

1. A. Beyeler, J.-C. Zufferey, and D. Floreano, "optiPilot: control of take-off and landing using optic flow," in Proceedings of the European Micro Air Vehicle Conference EMAV09, vol. 27, 2009, pp. 201-219.
2. J.-C. Zufferey, A. Beyeler, and D. Floreano, "Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2010.
3. R. Beard, D. Kingston, M. Quigley, D. Snyder, R. Christiansen, and W. Johnson, "Autonomous vehicle technologies for small fixed-wing UAVs," Journal of Aerospace Computing, Information, and Communication, vol. 2, no. 1, pp. 92-108, 2005.
4. L. Muratet, S. Doncieux, Y. Brière, and J. Meyer, "A contribution to vision-based autonomous helicopter flight in urban environments," Robotics and Autonomous Systems, vol. 50, no. 4, pp. 195-209, 2005.
5. S. Griffiths, J. Saunders, A. Curtis, T. McLain, and R. Beard, Obstacle and Terrain Avoidance for Miniature Aerial Vehicles, ser. Intelligent Systems, Control and Automation: Science and Engineering. Springer, 2007, vol. 33, ch. I.7, pp. 213-244.
6. S. Scherer, S. Singh, L. Chamberlain, and M. Elgersma, "Flying fast and low among obstacles: Methodology and experiments," The International Journal of Robotics Research, vol. 27, no. 5, pp. 549-574, 2008.
7. R. Brooks, Cambrian Intelligence. The MIT Press, Cambridge, MA, 1999.
8. T. Netter and N. Franceschini, "A robotic aircraft that follows terrain using a neuromorphic eye," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002.
9. F. Ruffier and N. Franceschini, "Optic flow regulation: the key to aircraft automatic guidance," Robotics and Autonomous Systems, vol. 50, no. 4, pp. 177-194, 2005.
10. G. Barrows, C. Neely, and K. Miller, "Optic flow sensors for MAV navigation," in Fixed and Flapping Wing Aerodynamics for Micro Air Vehicle Applications, ser. Progress in Astronautics and Aeronautics, T. J. Mueller, Ed. AIAA, 2001, vol. 195, pp. 557-574.
11. J.-C. Zufferey and D. Floreano, "Fly-inspired visual steering of an ultralight indoor aircraft," IEEE Transactions on Robotics, vol. 22, pp. 137-146, 2006.
12. T. Neumann and H. Bülthoff, "Behavior-oriented vision for biomimetic flight control," in Proceedings of the EPSRC/BBSRC International Workshop on Biologically Inspired Robotics, 2002, pp. 196-203.
13. A. M. Hyslop and J. Humbert, "Wide-field integration methods for autonomous navigation of 3-D environments," in Proceedings of the 2008 AIAA Guidance, Navigation and Control Conference and Exhibit, 2008.
14. J. C. Zufferey, A. Beyeler, and D. Floreano, Optic Flow to Steer and Avoid Collisions in 3D. Springer, Flying Insects and Robots, 2009, ch. 6, pp. 73-86.
15. A. Beyeler, J. Zufferey, and D. Floreano, "Vision-based control of near-obstacle flight," Autonomous Robots, vol. 27, no. 3, pp. 201-219, 2009.
16. B. Stevens and F. Lewis, Aircraft Control and Simulation, 2nd ed. Wiley, 2003.
17. J. Koenderink and A. van Doorn, "Facts on optic flow," Biological Cybernetics, vol. 56, pp. 247-254, 1987.
18. T. Whiteside and G. Samuel, "Blur zone," Nature, vol. 225, pp. 94-95, 1970.
19. A. Argyros, D. Tsakiris, and C. Groyer, "Biomimetic centering behavior for mobile robots with panoramic sensors," IEEE Robotics and Automation Magazine, vol. 11, no. 4, pp. 21-68, 2004.
20. J.-C. Zufferey, Bio-inspired Flying Robots: Experimental Synthesis of Autonomous Indoor Flyers. EPFL/CRC Press, 2008.
21. A. Beyeler, "Vision-based control of near-obstacle flight," Ph.D. dissertation, Ecole Polytechnique Fédérale de Lausanne (EPFL), 2009.
22. S. Hrabar and G. S. Sukhatme, "Optimum camera angle for optic flow-based centering response," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, pp. 3922-3927.
23. H. Krapp, B. Hengstenberg, and R. Hengstenberg, "Dendritic structure and receptive-field organization of optic flow processing interneurons in the fly," Journal of Neurophysiology, vol. 79, pp. 1902-1917, 1998.
24. M. Egelhaaf and R. Kern, "Vision in flying insects," Current Opinion in Neurobiology, vol. 12, no. 6, pp. 699-706, 2002.
25. D. Nelson, D. Barber, T. McLain, and R. Beard, "Vector field path following for miniature air vehicles," IEEE Transactions on Robotics, vol. 23, no. 3, pp. 519-529, 2007.
26. A. Beyeler, S. Magnenat, and A. Habersaat, "Ishtar: a flexible and lightweight software for remote data access," in Proceedings of the 2008 European Micro Air Vehicle Conference EMAV08, 2008.