Intelligent Service Robotics

, Volume 10, Issue 3, pp 185–194 | Cite as

Autonomous flying with quadrocopter using fuzzy control and ArUco markers

  • Jan Bacik
  • Frantisek Durovsky
  • Pavol Fedor
  • Daniela Perdukova
Original Research Paper


In this paper, we present an approach which enables a low-cost quadrocopter to fly various trajectories autonomously. Artificial landmarks are used for pose estimation, and a fuzzy controller is utilized to generate steering commands. The presented system can navigate a low-cost quadrocopter along a predefined path without the need for any additional external sensors. In addition to a full description of our system, we also introduce our software package for Robot Operating System, which allows the robotics community to experiment with proposed mapping algorithm.


Quadrocopter ArUco Autonomous flying ROS Fuzzy control 



The authors wish to thank the project VEGA 459 1/0464/15 for its support. This work was supported by the Slovak Research and Development Agency under the contract No. APVV-15-0750.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1. Faculty of Electrical Engineering and Informatics, Department of Electrical Engineering and MechatronicsTechnical University of KosiceKosiceSlovakia
  2. 2.Faculty of Mechanical Engineering, Department of Automation, Mechatronics and RoboticsTechnical University of KosiceKosiceSlovakia

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