This repository provides optimal and robust control algorithms for indoors autonomous navigation of DJI M100 using UWB wireless-based localization. The filtering and estimation is done by:
- Kalman filter
- Maximum Correntropy Criterion Kalman filter (MCC-KF)
Prerequisites:
- Ubuntu 16.04
- Install ROS Kinetic (http://wiki.ros.org/kinetic/Installation/Ubuntu)
- Create a ROS workspace (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
- Install the DJI OSDK and ROS nodes (https://developer.dji.com/onboard-sdk/documentation/sample-doc/sample-setup.html#ros-onboard-computer)
cite This project contains the implementation for our paper. If you find this code useful in your research, please consider citing:
@inproceedings{makridis2020towards,
title={Towards robust onboard control for quadrotors via ultra-wideband-based localization},
author={Makridis, Evagoras and Charalambous, Themistoklis},
booktitle={2020 International Wireless Communications and Mobile Computing (IWCMC)},
pages={1630--1635},
year={2020},
organization={IEEE}
}