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Cited by 305

The DOI matches its Crossref record; 28 of the 28 references it cites were found in a registry or an index.

Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU

Loianno, Giuseppe, Brunner, Chris, McGrath, Gary, Kumar, Vijay·2017·IEEE Robotics and Automation Letters
DOI 10.1109/lra.2016.2633290
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Abstract

We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.

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Metadata

Authors
Loianno, G., Brunner, C., McGrath, G., & Kumar, V.
Venue
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2017-04
Volume
2
Issue
2
Pages
404-411
ISSN
  • 2377-3766 (ISSN-L)
  • 2377-3774
DOI
10.1109/lra.2016.2633290
OpenAlex
W2557430988
Cited by
305
References
28
FWCI
36.05
Type
journal article
Language
en
Open access
closed

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CoChat. (2026). Citation check: Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU. https://app.cochat.ai/papers/10.1109/lra.2016.2633290
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Loianno, G., Brunner, C., McGrath, G., & Kumar, V. (2017). Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2016.2633290

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