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dc.contributor.authorHaviland, Stephen
dc.contributor.authorBershadsky, Dmitry
dc.contributor.authorMagree, Daniel
dc.contributor.authorJohnson, Eric N.
dc.date.accessioned2015-05-26T14:52:51Z
dc.date.available2015-05-26T14:52:51Z
dc.date.issued2015-05
dc.identifier.citationHaviland, S., Bershadsky, D., Magree, D. and Johnson, E. (2015). "Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation". Proceedings of the 71st AHS Anunual Forum, Virginia Beach, VA, May 5-7, 2015.en_US
dc.identifier.urihttp://hdl.handle.net/1853/53350
dc.descriptionPresented at the American Helicopter Society (AHS) 71st Annual Forum, May 5-7, 2015, Virginia Beach, VA, USA.en_US
dc.descriptionCopyright © 2015 by the American Helicopter Society International, Inc.
dc.description.abstractThis paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search of a ground target in an open indoor environment. The Georgia Tech Quadrotor-Mini (GTQ-Mini) weighs under 500 grams and was specifically sized to carry a high processing computer. The system platform also consists of a monocular camera, sonar, and an inertial measurement unit (IMU). All processing is done onboard the vehicle using a lightweight powerful computer. A vision navigation system generates vehicle state data and image feature estimates in a vision SLAM formation using a Bierman Thornton extended Kalman Filter (BTEKF). Simulation and flight tests have been performed to show and validate the systems performance.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectMicro aerial vehiclesen_US
dc.subjectUnmanned aerial vehiclesen_US
dc.subjectBierman Thornton extended Kalman Filter (BTEKF)en_US
dc.subjectQuadrotor aircraften_US
dc.subjectSimultaneous Location and Mapping (SLAM)en_US
dc.titleDevelopment of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigationen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Aerospace Engineeringen_US
dc.embargo.termsnullen_US


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