While not all of the information on the I Heart Robotics blog is related to UAVs, there is a significant amount that should be of interest here. I would like to highlight a few specific posts.

Autonomous Indoor Helicopters

Highlighting the development of an indoor helicopter navigation system.

Crash Test
This is a series of posts that shows the process of developing an autonomous quadrotor helicopter based on the Dragan Flyer

UAV Damage Control
Some information about adaptive control and morphing aircraft.

Analog Devices IMU now available with integrated Magnometer
Information about an analog devices IMU, ideally this sensor could be supported by the next version of ArduPilot.

If this kind of summary crosspost is considered helpful I can probably do it on a semi-monthly basis, otherwise this post can be deleted.

Views: 298

Comment by Jordi Muñoz on June 27, 2009 at 12:38pm
Helicopter tails rotor he?
Comment by Jack Crossfire on June 27, 2009 at 2:19pm
Reflected sonar navigation has been tried & abandonned before. Our notes go like this:

You'd have to always fly 1 meter away from & orthogonal to 2 walls. It's a $75 tag just for 1 down & 2 sideways sonars. You'd single handedly bail out Minnesota's mortgages.

If you covered the thing in sonar transducers, you might be able to map the surroundings, but for that money you could get a UWB system.

The way people are doing it now is unidirectional sonar.
Comment by I Heart Robotics on June 27, 2009 at 2:37pm
The quadrotor with the sonar sensors was setup for outdoor use and more to avoid hitting anything then anything else. Also the idea was that mapping could be done by using the IMU and optical flow with the sonar sensors and it could scan the area as the vehicle maneuvers.

Do you have a link/price for the UWB or unidirectional sonar sensors?
Comment by Jack Crossfire on June 28, 2009 at 1:44am
Just take out a home equity line of credit & go to


& the video yet again.

Sonar position sensing is still the domain of hobbyists & isn't being sold yet.
Comment by I Heart Robotics on June 28, 2009 at 8:42am
The Timedomain stuff is interesting but at 0.3m accuracy you might as well buy a Hokuyo laser and do localization in software..

The MSSI UWB Radar system looks pretty nice but I doubt that it is flyable yet on anything less then a 0.90 size nitro helicopter. They did manage to fit it on a Packbot though.

Is there a DIY Drones wiki or something where all this sensor information compiled?
Comment by Howard Gordon on June 28, 2009 at 3:17pm
unidirectional sonar -
Comment by I Heart Robotics on June 28, 2009 at 4:20pm
While the 1-3cm accuracy is good, I don't see a huge advantage of sonar beacons over IR beacons and from what I understand computer vision results may be adequate for beacon identification. I saw a paper recently where they were able to track bar codes in realtime using computer vision.

Actually I think this shows how well the realtime computer vision stuff has come along for stuff like beacons.
Comment by I Heart Robotics on June 28, 2009 at 4:32pm
On second thought, if you didn't have enough processor cycles on board that could be an advantage for unidirectional sonar.
Comment by Howard Gordon on June 28, 2009 at 4:53pm
Fiducial matching is an interesting localization technique -


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