Autonomous Flight Control and Precise Gestural Positioning of a Small Quadrotor

  • Nikola G. ShakevEmail author
  • Sevil A. Ahmed
  • Andon V. Topalov
  • Vasil L. Popov
  • Kostadin B. Shiev
Part of the Studies in Computational Intelligence book series (SCI, volume 756)


Precise gestural positioning interface of a small quadrotor, presented here, is an advance continuation (ending stage) of intelligent autonomous flight control strategy. It is based on gestures and visual computing techniques and ensures intuitive way of prepositioning (fine movements in flight’s end point proximity) in absence of GPS signal or when human interaction is crucial. Therefore, a human operator could control the implementation of various maneuvers during the flight of the rotorcraft via specific gestures and body postures. A Parrot AR. Drone quadrotor and a Microsoft Kinect sensor have been used to implement and evaluate the proposed autonomous and semi-autonomous flight control.



The authors gratefully acknowledge the financial support provided within the Ministry of Education and Science of Bulgaria Research Fund Projects: FNI I 02/6/2014 and FNI M 07/03/2016.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Nikola G. Shakev
    • 1
    Email author
  • Sevil A. Ahmed
    • 1
  • Andon V. Topalov
    • 1
  • Vasil L. Popov
    • 1
  • Kostadin B. Shiev
    • 1
  1. 1.Control Systems DepartmentTU – Sofia, Branch PlovdivPlovdivBulgaria

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