Design of an Indoor Autonomous Robot Navigation System for Unknown Environments

  • Luca Silvestri
  • Lucia Pallottino
  • Simone NardiEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10756)


In this work is presented a novel platform able to navigate autonomously in unknown indoor environments. The system has been designed as a framework with different interconnected modules in order to be able to apply the same navigation system to different robotic platforms. The proposed framework is a real–time system developed on board of the robot, without the need of external computing units. The entire system has been tested and evaluated on multi–rotors vehicles with different hardware configurations, evaluating the performance and the quality of the reconstructed map. Experimental results show a promising robust and highly accurate indoor navigation module.


Indoor navigation Unknown environment 3D exploration and mapping Multi-rotors platform 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Luca Silvestri
    • 1
  • Lucia Pallottino
    • 1
    • 2
  • Simone Nardi
    • 1
    • 3
    • 4
    Email author
  1. 1.Centro di Ricerca “E. Piaggio”Università di PisaPisaItaly
  2. 2.Dipartimento di Ingegneria dell’InformazioneUniversità di PisaPisaItaly
  3. 3.Dipartimento di MatematicaUniversità di PisaPisaItaly
  4. 4.Ingegneria dei Sistemi SpAPisaItaly

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