Antoine Wystrach

Antflie: Frugal Visual Teach and Repeat on Narrow FoV Micro-Drones

We present an insect-inspired visual teach-and-repeat framework demonstrated on Antflie, a 33-gram MAV equipped with an ultra-low-resolution camera (24× 24 px) and a narrow 87% field of view (FoV). During a one-shot teach flight along an outbound route, the MAV performs periodic physical scans and u