Smartphones Power Flying Robots
Giuseppe Loianno, Yash Mulgaonkar, Chris Brunner, Dheeraj Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, Vijay Kumar

Citation
Giuseppe Loianno, Yash Mulgaonkar, Chris Brunner, Dheeraj Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, Vijay Kumar. "Smartphones Power Flying Robots". Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, September 2015.

Abstract
Consumer grade technology seen in cameras and phones has led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, most devices are packaged with a camera, a gyroscope, and an accelerometer, important sensors for aerial robotics. The low mass and small form factor make them particularly well suited for autonomous flight with small flying robots, especially in GPS-denied environments. In this work, we present the first fully autonomous smartphone-based quadrotor. All the computation, sensing and control runs on an off-the-shelf smartphone, with all the software functionality in a smartphone app.We show how quadrotors can be stabilized and controlled to achieve autonomous flight in indoor buildings with application to smart homes, search and rescue, construction and architecture. The work allows any consumer with a smartphone to autonomously drive a quadrotor robot platform, even without GPS, by downloading an app, and concurrently build 3-D maps.

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Citation formats  
  • HTML
    Giuseppe Loianno, Yash  Mulgaonkar, Chris Brunner, Dheeraj
    Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, Vijay
    Kumar. <a
    href="http://www.terraswarm.org/pubs/754.html"
    >Smartphones Power Flying Robots</a>,
    <i>Intelligent Robots and Systems (IROS), 2015
    IEEE/RSJ International Conference on</i>, September
    2015.
  • Plain text
    Giuseppe Loianno, Yash  Mulgaonkar, Chris Brunner, Dheeraj
    Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, Vijay
    Kumar. "Smartphones Power Flying Robots".
    <i>Intelligent Robots and Systems (IROS), 2015
    IEEE/RSJ International Conference on</i>, September
    2015.
  • BibTeX
    @article{LoiannoMulgaonkarBrunnerAhujaRamanandanChariDiazKumar15_SmartphonesPowerFlyingRobots,
        author = {Giuseppe Loianno and Yash  Mulgaonkar and Chris
                  Brunner and Dheeraj Ahuja and Arvind Ramanandan
                  and Murali Chari and Serafin Diaz and Vijay Kumar},
        title = {Smartphones Power Flying Robots},
        journal = {Intelligent Robots and Systems (IROS), 2015
                  IEEE/RSJ International Conference on},
        month = {September},
        year = {2015},
        abstract = {Consumer grade technology seen in cameras and
                  phones has led to the price/performance ratio of
                  sensors and processors falling dramatically over
                  the last decade. In particular, most devices are
                  packaged with a camera, a gyroscope, and an
                  accelerometer, important sensors for aerial
                  robotics. The low mass and small form factor make
                  them particularly well suited for autonomous
                  flight with small flying robots, especially in
                  GPS-denied environments. In this work, we present
                  the first fully autonomous smartphone-based
                  quadrotor. All the computation, sensing and
                  control runs on an off-the-shelf smartphone, with
                  all the software functionality in a smartphone
                  app.We show how quadrotors can be stabilized and
                  controlled to achieve autonomous flight in indoor
                  buildings with application to smart homes, search
                  and rescue, construction and architecture. The
                  work allows any consumer with a smartphone to
                  autonomously drive a quadrotor robot platform,
                  even without GPS, by downloading an app, and
                  concurrently build 3-D maps.},
        URL = {http://terraswarm.org/pubs/754.html}
    }
    

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