Special issue on micro-UAV perception and control

Nathan Michael, Davide Scaramuzza, Vijay Kumar
2012 Autonomous Robots  
This special journal issue focuses on the problems of perception and control for micro unmanned aerial vehicles (UAVs). These two topic areas are particularly important when considering autonomous micro-UAVs capable of operating in complex and challenging environments. A fundamental limitation of micro-UAVs arises from the onboard power for actuation, sensing, and computation, which can be insubstantial because of limitations on specific power and energy density with current of-the-shelf energy
more » ... sources. The choice of mechanical design determines the permissible payload, which in turn dictates the onboard sensing and computation. Hence, micro-UAV perception and control are tightly coupled. The solution to such perception problems as 3D state estimation and mapping can be computationally demanding due to the need for the continual processing of rich 3D sensor observations. Further, low-mass and small-scale sensors and processors capable of providing and operating on the required 3D information are not readily available. Therefore, researchers must consider sensor and processor availability and design along with optimized algorithms to enable perception on micro-UAVs. The control of micro-UAVs requires careful modeling of the vehicle's dynamics and operating constraints such as actuation and sensor saturation. The small size also magnifies N. Michael ( ) · V. Kumar
doi:10.1007/s10514-012-9295-y fatcat:6xug7qffcrhcpj2rry66hmmldu