NDLI: Relative navigation and control of a hexacopter

Content Provider	IEEE Xplore Digital Library
Author	Leishman, R. Macdonald, J. McLain, T. Beard, R.
Copyright Year	2012
Description	Author affiliation: Dept. of Electrical Engineering, Brigham Young University, Provo, UT 84604, USA (Macdonald, J.; Beard, R.) \|\| Dept. of Mechanical Engineering, Brigham Young University, Provo, UT 84604, USA (Leishman, R.; McLain, T.)
Abstract	This paper discusses the progress made on developing a multi-rotor helicopter equipped with a vision-based ability to navigate through an a priori unknown, GPS-denied environment. We highlight the backbone of our system, the relative estimation and control. We depart from the common practice of using a globally referenced map, preferring instead to keep the position and yaw states in the EKF relative to the current map node. This relative navigation approach allows simple application of sensor updates, natural characterization of the transformation between map nodes, and the potential to generate a globally consistent map when desired. The EKF fuses view matching data from a Microsoft Kinect with more frequent IMU data to provide state estimates at rates high enough to control the vehicles fast dynamics. Although an EKF is used, a nodes and edges graph represents the map. Hardware results showing the quality of the estimates and flights with estimates in the loop are provided.
Starting Page	4937
Ending Page	4942
File Size	516337
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224983
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Navigation Estimation Current measurement Visualization Vehicle dynamics Accelerometers
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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