a. Description - "3D Vision-based Navigation for Indoor Microflyers"
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Antoine Beyeler*
Jean-Christophe Zufferey
Dario Floreano

The video shows the simulation described in the paper "3D Vision-based Navigation for Indoor Microflyers". The model of the simulated agent corresponds to the MC1 10-gram indoor microflyer. It is fully autonomously controlled using only optic flow information and speed and turn rate sensors.

The video clearly illustrates how altitude control is actually a ground and ceiling avoidance scheme. Indeed the microflyer does not maintain its altitude constant but flies along straight trajectories (i.e. including climbing and descending) and avoids walls as well as ground and ceiling.


b. Player information
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The video is in standard MP4 format. It is compatible with most modern video players and has been tested with VLC 0.8.6 (recommended) and QuickTime 7.

VLC download: http://www.videolan.org/vlc/ 


c. Contact
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Antoine Beyeler
antoine.beyeler@epfl.ch

http://lis.epfl.ch/microflyers

Laboratory of Intelligent Systems (LIS)
Ecole Polytechnique Fédérale de Lausanne (EPFL)
Lausanne, Switzerland

Attachment filename: 1242_VI.mp4 (4113024 Bytes)