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Intelligent Service Robotics
Published in: Intelligent Service Robotics 2/2019

24-01-2019 | Original Research Paper

Challenges and implemented technologies used in autonomous drone racing

Authors: Hyungpil Moon, Jose Martinez-Carranza, Titus Cieslewski, Matthias Faessler, Davide Falanga, Alessandro Simovic, Davide Scaramuzza, Shuo Li, Michael Ozo, Christophe De Wagter, Guido de Croon, Sunyou Hwang, Sunggoo Jung, Hyunchul Shim, Haeryang Kim, Minhyuk Park, Tsz-Chiu Au, Si Jung Kim

Published in: Intelligent Service Robotics | Issue 2/2019

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Abstract

Autonomous drone racing (ADR) is a challenge for autonomous drones to navigate a cluttered indoor environment without relying on any external sensing in which all the sensing and computing must be done with onboard resources. Although no team could complete the whole racing track so far, most successful teams implemented waypoint tracking methods and robust visual recognition of the gates of distinct colors because the complete environmental information was given to participants before the events. In this paper, we introduce the purpose of ADR as a benchmark testing ground for autonomous drone technologies and analyze challenges and technologies used in the two previous ADRs held in IROS 2016 and IROS 2017. Five teams which participated in these events present their implemented technologies that cover modified ORB-SLAM, robust alignment method for waypoints deployment, sensor fusion for motion estimation, deep learning for gate detection and motion control, and stereo-vision for gate detection.
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Footnotes
Literature
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Metadata
Title
Challenges and implemented technologies used in autonomous drone racing
Authors
Hyungpil Moon
Jose Martinez-Carranza
Titus Cieslewski
Matthias Faessler
Davide Falanga
Alessandro Simovic
Davide Scaramuzza
Shuo Li
Michael Ozo
Christophe De Wagter
Guido de Croon
Sunyou Hwang
Sunggoo Jung
Hyunchul Shim
Haeryang Kim
Minhyuk Park
Tsz-Chiu Au
Si Jung Kim
Publication date
24-01-2019
Publisher
Springer Berlin Heidelberg
Published in
Intelligent Service Robotics / Issue 2/2019
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-018-00271-6

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