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Towards palm-size autonomous helicopters

: Bouabdallah, S.; Bermes, C.; Grzonka, S.; Gimkiewicz, C.; Brenzikofer, A.; Hahn, R.; Schafroth, D.; Grisetti, G.; Burgard, W.; Siegwart, R.


Journal of intelligent and robotic systems 61 (2011), No.1-4, pp.445-471
ISSN: 0921-0296
Journal Article
Fraunhofer IZM ()

muFly EU project started in 2006 with the idea to build an autonomous micro helicopter, comparable in size and weight to a small bird. Several scientific and technological objectives were identified. This spanned from system-level integration, high efficiency micro-actuation, highly integrated micro vision sensors and IMUs and also low processing power navigation algorithms. This paper shows how most of these objectives were reached, describing the approach and the role of each partner during the whole project. The paper describes also the technological developments achieved like the 80 g, 17 cm micro robotic-helicopter, the 8 g omnidirectional and steady-state laser scanner, the uIMU, the highly efficient micro motors, the high power-density fuel-cell and the successful graph-based navigation algorithms.