Print Email Facebook Twitter Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments Title Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments Author McGuire, K.N. (TU Delft Control & Simulation) Coppola, M. (TU Delft Control & Simulation) de Wagter, C. (TU Delft Control & Simulation) de Croon, G.C.H.E. (TU Delft Control & Simulation) Date 2017-12-14 Abstract Pocket-drones are inherently safe for flight near humans, and their small size allows maneuvering through narrow indoor environments. However, achieving autonomous flight of pocket-drones is challenging because of strict on-board hardware limitations. Further challenges arise when multiple pocket-drones operate as a team and need to coordinate their movements. This paper presents a set-up that can achieve autonomous flight in an indoor environment with avoidance of both static obstacles and other pocket-drones.The pocket-drones use only on-board sensing and processing implemented on a STM32F4 microprocessor (168 MHz). Experiments were conducted with two 40g pocket-drones flying autonomously in a real-world office while avoiding walls, obstacles, and each-other. To reference this document use: http://resolver.tudelft.nl/uuid:4e97ce0f-9fc9-4b05-8b93-48be875c81f0 DOI https://doi.org/10.1109/IROS.2017.8202164 ISBN 978-1-5386-2682-5 Source IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Part of collection Institutional Repository Document type conference paper Rights © 2017 K.N. McGuire, M. Coppola, C. de Wagter, G.C.H.E. de Croon Files PDF IROS_pocketswarm_final_v2.pdf 2.05 MB Close viewer /islandora/object/uuid:4e97ce0f-9fc9-4b05-8b93-48be875c81f0/datastream/OBJ/view