Autonomous navigation of a UAV based on multimodal integration

Alexandre Ravet (1) , Bertrand Vandeportaele (2) , Gautier Hattenberger (3, 4) , Simon Lacroix (1)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 LAAS-RAP - Équipe Robotique, Action et Perception
3 DRONES - ENAC - Programme transverse Drones
4 MAIAA - ENAC - Laboratoire de Mathématiques Appliquées, Informatique et Automatique pour l'Aérien

While most of the UAV mission scenarios considered in the literature inherently need the robot to combine multiple and often conflicting objectives, in practice, most of systems finally decompose the problem by switching between exclusive behaviors, i.e. controllers. As an example, the Paparazzi system developed at ENAC [1] provides autonomous flight plan execution by statically selecting the appropriate controller according to the current objective.

Domaines: Automatique / Robotique

Alexandre Ravet, Bertrand Vandeportaele, Gautier Hattenberger, Simon Lacroix. Autonomous navigation of a UAV based on multimodal integration. IMAV 2012, International Micro Air Vehicule Conference and Flight Competition, Jul 2012, Braunshweig, Germany. pp xxxx. ⟨hal-00938714⟩