IEEE/RSJ IROS'13 International Workshop on

Vision-based Closed-Loop Control and Navigation of

Micro Helicopters in GPS-denied Environments

November 7, 2013 - Room 607 - Tokyo Big Sight, Japan



09:05 The Role of Computer Vision for Autonomous Quadrotor MAVs
Friedrich Fraundorfer, Lionel Heng, Marc Pollefeys - TU Munich and ETH Zurich
09:35 Vision Based Navigation, Grasping and Localization for Micro Aerial Vehicles
Giuseppe Loianno and Vijay Kumar - University of Pennsylnavia
10:05 Optic-Flow Based Control of a 46g Quadrotor
Adrien Briod, Jean-Christophe Zufferey, Dario Floreano - EPFL
10:25 Poster and Coffee Session
11:00 Sensing and actuating with unmanned aerial vehicles; from single to networked systems
Fernando Caballero and Anibal Ollero - University of Seville
11:30 Next Generation Autonomous Micro Helicopters
Stephan Weiss and Larry Matthies - California Institute of Technology
12:00 Air-ground Collaboration, Dense Mapping, and Aggressive Manueuvers: Challenges and Next Generation Sensors
Davide Scaramuzza - University of Zurich
13:30 Image Based Visual Control of Aerial Robotic Vehicles
Robert Mahony - The Australian National University
14:00 High-speed Monocular Vision for Close-quarters Flying
Inkyu Sa and Peter Corke - Queensland University of Technology
14:30 Closing the MAV navigation loop: from control to localization and path-planning
Markus Achtelik, Sammy Omari, Roland Siegwart - ETH Zurich
15:00 Poster and Coffee Session
15:30 Vision-Based Bilateral Shared Control and Autonomous Flight for Single and Multiple quadrotor UAVs
Paolo Robuffo Giordano - CNRS at IRISA and INRIA Rennes Bretagne Atlantique, France
16:00 RGB-D based Haptic Teleoperation of UAVs with Onboard Sensors: Development and Preliminary Results
Antonio Franchi, Paolo Stegagno, Massimo Basile, Heinrich H. Buelthoff - Max Planck Institute for Biological Cybernetics
16:20 Demo of Fotokite: the Flying Steadycam
Sergei Lupashin - ETH Zurich and University of Zurich
16:30Panel Discussion

Poster Session

The poster sessions will be held during the coffee breaks



As of today, perception and control are still often studied separately. Several research labs around the world have built flying-robot testbeds, where multiple quadrotors demonstrate impressive acrobatics and perform cooperative tasks. However, these systems work under the glowing eyes of motion-capture systems. They are robust, reliable, and allow researchers to focus on control strategies, ignoring the issues of perception. However, for truly autonomous navigation, onboard sensors are the only viable solution. Laser range finders are robust, accurate and reliable, regardless of most environment conditions, although they are still too heavy, cumbersome, and consume too much power. Kinect-like depth sensors are becoming more common in the aerial-robot community, although they are still limited to indoor environments and have restricted field of view. Passive vision sensors, such as monocular or stereo systems, have proved to be an ideal complement to range sensors and some autonomous-flight demonstrations have recently been achieved using just cameras.


The goal of this workshop is to bring together state-of-the-art research in the area of closed-loop control and navigation of micro helicopters in indoor and outdoor GPS-denied environments using passive and active vision sensors (monocular, stereo, RGB-D) as the main sensory modality. The workshop will feature invited talks from recognized experts in the field and peer-reviewed paper presentations.

Program Committee Members

  • Jonathan Kelly, MIT
  • Sebastian Scherer, CMU
  • Margarita Chli, ETH Zurich
  • Simon Lacroix, CNRS
  • Andreas Wendel, TU Gratz/Google
  • Paolo Robuffo Giordano, CNRS at IRISA and INRIA Rennes Bretagne Atlantique, France
  • Juergen Sturm, TU Munich