Planning for Autonomous Aerial Vehicles


The goal of this project is to enable unmanned aerial vehicle to operate fully autonomously in near-earth spaces such as urban environments and sparse forests. Robust planning is challenging because it needs to occur in a relatively high-dimensional space in order to generate dynamically feasible trajectories, it needs to be fast in order to allow for fast flying, and it needs to account for massive uncertainty due to noisy perception and inaccurate localization.

This project is a collaboration with Dragonfly Pictures, Inc company that designs and builds unmanned helicopters.

More on this project can be found at Autonomous Aerial Vehicles site.

Quadrotor-based system we built for indoor testing (based on Pelican built by Ascending Tech.). It is equipped with on-board processing and sensor . One of the test platforms we use (built by Dragonfly Pictures). Another test platform we use (also built by Dragonfly Pictures).