@inproceedings{4ac1e3b7e69f479cabaf69c5894501de,
title = "Integrated guidance navigation and control for a fully autonomous indoor UAS",
abstract = "This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined Simultaneous Localization and Mapping (SLAM) algorithm is implemented onboard the vehicle to fuse information from a scanning laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. This state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. To ensure the SLAM algorithm has sufficient information to form a reliable solution, the guidance algorithm ensures the vehicle approaches frontier waypoints through a path that remains within sensor range of indoor structures. Along with a detailed description of the system, simulation and hardware testing results are presented.",
author = "Girish Chowdhary and Sobers, {D. Michael} and Chintasid Pravitra and Claus Christmann and Allen Wu and Hiroyuki Hashimoto and Chester Ong and Roshan Kalghatgi and Johnson, {Eric N.}",
year = "2011",
doi = "10.2514/6.2011-6720",
language = "English (US)",
isbn = "9781600869525",
series = "AIAA Guidance, Navigation, and Control Conference 2011",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference 2011",
note = "AIAA Guidance, Navigation and Control Conference 2011 ; Conference date: 08-08-2011 Through 11-08-2011",
}