Imperial College London
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DrStefanLeutenegger

Faculty of Engineering, Department of Computing

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Contact

 

s.leutenegger Website

 
 
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Location

 

ACE ExtensionSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Tzoumanikas:2019:10.1002/rob.21821,
author = {Tzoumanikas, D and Li, W and Grimm, M and Zhang, K and Kovac, M and Leutenegger, S},
doi = {10.1002/rob.21821},
journal = {Journal of Field Robotics},
pages = {49--77},
title = {Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control},
url = {http://dx.doi.org/10.1002/rob.21821},
volume = {36},
year = {2019}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) held in spring 2017 was a very successful competition well attended by teams from all over the world. One of the challenges (Challenge 1) required an aerial robot to detect, follow, and land on a moving target in a fully autonomous fashion. In this paper, we present the hardware components of the micro air vehicle (MAV) we built with off the self components alongside the designed algorithms that were developed for the purposes of the competition. We tackle the challenge of landing on a moving target by adopting a generic approach, rather than following one that is tailored to the MBZIRC Challenge 1 setup, enabling easy adaptation to a wider range of applications and targets, even indoors, since we do not rely on availability of global positioning system. We evaluate our system in an uncontrolled outdoor environment where our MAV successfully and consistently lands on a target moving at a speed of up to 5.0 m/s.
AU  - Tzoumanikas,D
AU  - Li,W
AU  - Grimm,M
AU  - Zhang,K
AU  - Kovac,M
AU  - Leutenegger,S
DO  - 10.1002/rob.21821
EP  - 77
PY  - 2019///
SN  - 1556-4959
SP  - 49
TI  - Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control
T2  - Journal of Field Robotics
UR  - http://dx.doi.org/10.1002/rob.21821
UR  - http://hdl.handle.net/10044/1/64334
VL  - 36
ER  -
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