Visual simultaneous localization and mapping co-operating unmanned aerial vehicles

• Main Authors: Cornejo, Juan Raphael M., Mapili, Lorenzo A., Pesit, Rigel, Young, Emmeth N.
• Format: text
• Language: English
• Published: Animo Repository 2014
• Subjects: Drone aircraft in remote sensing; Drones; Uninhabited combat aerial vehicles; Communication; Electrical and Electronics
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/10681
• Institution: De La Salle University

This paper presents a modified open-source RGB-D SLAM system that aims to address the problem of multi-robot SLAM. The modified RGB-D SLAM system was tested with quadrotors which are equipped with RGB-D cameras as the only sensor for solving the SLAM problem. Two quadrotors are tasked to autonomously explore an unknown indoor environment using a 2D navigation stack while still producing a 3D map using RGB-D SLAM. The paper also wishes to describe the implementation of a control interface where RPYT channels of a commercially available flight controller can be controlled to achieve autonomous flight control. Height and yaw position control were also implemented.