2017
Autonomous Navigation and Mapping for Inspection of Penstocks and Tunnels With MAVs
Tolga Özaslan, Giuseppe Loianno, James Keller, Camillo J. Taylor, Vijay Kumar, Jennifer M. Wozencraft +1
RA-L 2017
In this paper, we address the estimation, control, navigation and mapping problems to achieve autonomous inspection of penstocks and tunnels using aerial vehicles with on-board sensing and computation. Penstocks and tunnels have the shape of a generalized cylinder. They are generally dark and featur