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Towards Palm-Size Autonomous Helicopters

Bouabdallah, Samir ; Bermes, Christian ; Grzonka, Slawomir ; Gimkiewicz, Christiane ; Brenzikofer, Alain ; Hahn, Robert ; Schafroth, Dario ; Grisetti, Giorgio ; Burgard, Wolfram ; Siegwart, Roland

In: Journal of Intelligent & Robotic Systems, 2011, vol. 61, no. 1-4, p. 445-471

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    Title
    • Towards Palm-Size Autonomous Helicopters
    Author
    • Bouabdallah, Samir. Autonomous System Lab, Swiss Federal Institute of Technology Zurich (ETHZ), CLA E16.2, Zurich, Switzerland
    • Bermes, Christian. Autonomous System Lab, Swiss Federal Institute of Technology Zurich (ETHZ), CLA E16.2, Zurich, Switzerland
    • Grzonka, Slawomir. Department of Computer Science, Autonomous Intelligent Systems, University of Freiburg, Georges-Koehler-Allee 079, 79110, Freiburg, Germany
    • Gimkiewicz, Christiane. CSEM Zurich Center, Technoparkstrasse 1, 8005, Zürich, Switzerland
    • Brenzikofer, Alain. CSEM SA, Technoparkstrasse 1, 8005, Zürich, Switzerland
    • Hahn, Robert. Fraunhofer-Institut Zuverlaessigkeit und Mikrointegration (IZM), High Density Interconnect & Wafer Level Packaging Gustav-Meyer-Allee 25, 13355, Berlin, Germany
    • Schafroth, Dario. Autonomous System Lab, Swiss Federal Institute of Technology Zurich (ETHZ), CLA E16.2, Zurich, Switzerland
    • Grisetti, Giorgio. Department of Computer Science, Autonomous Intelligent Systems, University of Freiburg, Georges-Koehler-Allee 079, 79110, Freiburg, Germany
    • Burgard, Wolfram. Institut für Informatik, Faculty for Applied Sciences, Albert-Ludwigs-Universität Freiburg, Georges-Köhler-Allee, Geb. 079, 79110, Freiburg, Germany
    • Siegwart, Roland. ETH Zürich, Inst.f. Robotik u. Intelligente Systeme, HG F 57 Rämistrasse 101, 8092, Zürich, Switzerland
    Document Type
    • Postprint
    Language
    • English
    Published in
    • Journal of Intelligent & Robotic Systems, 2011, vol. 61, no. 1-4, p. 445-471. Springer Netherlands
    Other Version
    OAI-PMH Identifier
    • oai:doc.rero.ch:312442
    Summary
    muFly EU project started in 2006 with the idea to build an autonomous micro helicopter, comparable in size and weight to a small bird. Several scientific and technological objectives were identified. This spanned from system-level integration, high efficiency micro-actuation, highly integrated micro vision sensors and IMUs and also low processing power navigation algorithms. This paper shows how most of these objectives were reached, describing the approach and the role of each partner during the whole project. The paper describes also the technological developments achieved like the 80g, 17 cm micro robotic-helicopter, the 8g omnidirectional and steady-state laser scanner, the uIMU, the highly efficient micro motors, the high power-density fuel-cell and the successful graph-based navigation algorithms