A 10-gram Vision-based Flying Robot

Zufferey, Jean-ChristopheKlaptocz, AdamBeyeler, AntoineNicoud, Jean-DanielFloreano, Dario2007-07-112007-07-112007-07-11200710.1163/156855307782227417https://infoscience.epfl.ch/handle/20.500.14299/9464WOS:00025057790000611509We aim at developing ultralight autonomous microflyers capable of freely flying within houses or small built environments while avoiding collisions. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for airspeed regulation and lateral collision avoidance. This microflyer is equipped with two tiny camera modules, two rate gyroscopes, an anemometer, a small microcontroller, and a Bluetooth radio module. Inflight tests are carried out in a new experimentation room specifically designed for easy changing of surrounding textures.Indoor Flying RobotVision-based NavigationCollision AvoidanceOptic-flowAerial RoboticsA 10-gram Vision-based Flying Robottext::journal::journal article::research article