Sameer Bhalla

Feb 24, 2023 | mdpi.com | Sameer Bhalla |Donghoon Kim |Shyam Rauniyar |Daegyun Choi

Abstract: SLAM (Simultaneous Localization And Mapping) in unmanned aerial vehicles can be an advantageous proposition during dangerous missions where aggressive maneuvers are paramount. This paper proposes to achieve it for a quadcopter using a differential flatness-based linear quadratic regulator while utilizing sensor measurements of an inertial measurement unit and light detection and ranging considering sensors’ constraints, such as a limited sensing range and field of view.