Journal of Intelligent & Robotic Systems

, Volume 73, Issue 1–4, pp 401–412 | Cite as

Framework for Autonomous On-board Navigation with the AR.Drone

  • Jacobo Jiménez LugoEmail author
  • Andreas Zell


We present a framework for autonomous flying using the AR.Drone low cost quadrotor. The system performs all sensing and computations on-board, making the system independent of any base station or remote control. High level navigation, computer vision and control tasks are carried out in an external processing unit that steers the vehicle to a desired location. We experimentally demonstrate the properties and capabilities of three systems to autonomously following several trajectory patterns, visually estimate its position and detecting and following a person and evaluate the performance of the systems.


Micro aerial vehicle Computer vision Low cost Pose estimation Autonomous navigation Quadrotor 


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  1. 1.Cognitive SystemsUniversity of TübingenTübingenGermany

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