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State estimation and autonomous navigation in complex indoor/outdoor environments

State estimation and autonomous navigation in complex indoor/outdoor environments
Shaojie Shen, Yash Mulgaonkar, Nathan Michael and Vijay Kumar, ICRA 2014 (to be published)

Vision-based, autonomous flight in indoor environments (4 m/s)

A 740g quadrotor flies fully autonomously with speed up to 4m/s using only onboard sensing and computation. The quadrotor is equipped with two cameras, an IMU, and an 1.6GHz Intel Atom processor

Air-ground collaboration for mapping in a damaged building after the 2011 Japan Earthquake

KMel quadrotors dance to music and lights at Saatchi and Saatchi event in Cannes

A troupe of 16 quadrotors (flying robots) dance to and manipulate sound and light at the Saatchi & Saatchi New Directors’ Showcase 2012.

A Swarm of Nano Quadrotors


Discovery Channel: Quadrotors build autonomously

Quadrotors create and execute a plan for building a 3-D structure.They also navigate new areas with a lasar and camera and actually learn about the environment as they fly through it. It will detect obstacles and fly around them.

The Colbert Report (watch 3 mins out)

Flying Robots Build Dorm Room Shelves.

Assembly of Structures for Construction with Multiple Quadrotors

Teams of quadrotors autonomously build tower-like cubic structures from modular parts. Work done by Quentin Lindsey, Daniel Mellinger, and Vijay Kumar at the GRASP Lab, University of Pennsylvania.

Vision-based Autonomous Navigation and Mapping with a Small Quadrotor

Vision-based autonomous navigation and mapping using a 740 gram quadrotor equipped with two fisheye cameras and an IMU.


Autonomous robotic “fetch” operation, where a robot is shown a novel object and then asked to locate it in the field, retrieve it and bring it back to the human operator.

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Scalable sWarms of Autonomous Robots and Mobile Sensors (SWARMS) project.

The SWARMS project brings together experts in artificial intelligence, control theory, robotics, systems engineering and biology with the goal of understanding swarming behaviors in nature and applications of biologically-inspired models of swarm behaviors to large networked groups of autonomous vehicles.

Aerial Robots for Remote Autonomous Exploration and Mapping
We are interested in exploring the possibility of leveraging an autonomous quadrotor in earthquake-damaged environments through field experiments that focus on cooperative mapping using both ground and aerial robots. Aerial robots offer several advantages over ground robots, including the ability to maneuver through complex three-dimensional (3D) environments and gather data from vantages inaccessible to ground robots. Read More