Title:
Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems

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dc.contributor.author Bershadsky, Dmitry
dc.contributor.author Johnson, Eric N.
dc.contributor.corporatename Georgia Institute of Technology. School of Aerospace Engineering en_US
dc.date.accessioned 2015-05-26T13:49:55Z
dc.date.available 2015-05-26T13:49:55Z
dc.date.issued 2013-08
dc.description Presented at AIAA Guidance, Control, and Navigation (GNC) conference, 2013.
dc.description DOI: dx.doi.org/10.2514/6.2013-4989
dc.description.abstract Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate with search other agents. This paper details the exploration and guidance system of a multi-quadrotor unmanned aerial system (UAS) capable of exploring cluttered indoor areas without relying on any external aides. Specifically, a graph-based frontier search algorithm which is aided by an onboard Simultaneous Localization and Mapping (SLAM) system is developed and flight tested. A technique is developed in for segmenting an indoor office-like environment into regions and to utilize the SLAM map to conduct specific activities in these regions. A goal-directed exploration strategy is created building on existing hybrid deliberative-reactive approaches to exploration. An obstacle avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area while avoiding obstacles. The environment is explored and regions are segmented by detecting rooms and hallways which expedites the search. The multi-vehicle system is Georgia Tech Aerial Robotic Team's entry for the annual International Aerial Robotics Competition (IARC). en_US
dc.embargo.terms null en_US
dc.identifier.citation Bershadsky, D., and Johnson, E., "Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems". AIAA Guidance, Control, and Navigation Conference, Boston, MA, August 19-22, 2013, AIAA Paper 2013-4989, doi:http://arc.aiaa.org/doi/abs/10.2514/6.2013-4989 en_US
dc.identifier.doi 10.2514/6.2013-4989
dc.identifier.uri http://hdl.handle.net/1853/53345
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Simultaneous Location and Mapping (SLAM) en_US
dc.subject Guidance en_US
dc.subject Unmanned aerial vehicles en_US
dc.title Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Johnson, Eric N.
local.contributor.corporatename Unmanned Aerial Vehicle Research Facility
relation.isAuthorOfPublication 175a1f2b-c14e-4c43-a9e5-136fb7f8e5d0
relation.isOrgUnitOfPublication 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1
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