IST 2.6.1 Advanced Robotics
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IST 2.6.1 Advanced Robotics µdrones µDRone autOnomous Navigation for Environment Sensing JM ALEXANDRE CEA List. Objective of the project : AUTONOMOUS MICRO DRONE.

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Ist 2 6 1 advanced robotics drones drone autonomous navigation for environment sensing jm alexandre cea list

IST 2.6.1 Advanced Robotics


µDRone autOnomous Navigation for Environment Sensing


CEA List

Objective of the project autonomous micro drone
Objective of the project : AUTONOMOUS MICRO DRONE

Development small size flying robot able to carry outdoor missions (urban environment) autonomously without human command for civil security applications

- Autonomous localisation

- Autonomous navigation

- Robustness to unexpected events

  • Sensors for autonomy

  • Vision

  • GPS

  • Inertial

  • US/IR

  • Sensors for security

  • Vision

  • Chemical


  • - Small size and weight

  • Careenage

Drones presentation


CEA List – Technology research institute (FR)

Thales Security System – Industry (Fr)

University of Tünbingen – Research institute (D)

AirRobot – SME (D)

Lisippos – SME (GR)

µDrones presentation

  • Main developments

  • - Algorithms for autonomous localisation and navigation

  • Intuitive MMI for mission preparation and control

  • Flying robot

  • Evaluation in urban environment

Mcs mission control system

Man Machine Interface (mission preparation)

Screen with (2D or 3D view of the urban environment (GPS navigation map), to define the trajectory that the drone will follow autonomously.

Definition of the trajectory by defining way point

Automatic planning of the trajectory

Man Machine Interface (mission monitoring)

Display a feedback of :

Estimated position of the drone

Data coming from the mission sensors ( video, chemical …)

Stop the drone on an interest point and to servo the drone on this point or command with a joystick

MCS – Mission Control System

Perception and command for flight autonomy

Attitude stabilization

- attitude stabilization of the UAV using inertial sensor (Gyrometer and accelerometer MEMS) to counteract wind perturbation.

Localization and navigation

Performed by different sensors modalities, including GPS, vision, inertial sensors.

Redundancy increases the reliability of the system (loss of information from one of the sensors. (GPS loss, bad vision feedback or too poor video contents).

Obstacle avoidance

Strategy of obstacle avoidance based on optic flow (measurement of time to collision).

Perception and command for flight autonomy

Final scenarios

Two scenarios

Crisis management scenario (    unknown  urban environment)

Search and Rescue

Car accidents

Fight against terrorism

Forest Fire Detection

Inspection and monitoring of sensitive site (known environment)

Nuclear power plant

Chemical factory

Final scenarios