SFLY

sfly

The objective of the sFly project was to develop several small and safe helicopters which could fly autonomously in city-like environments, able to assist humans in tasks like rescue and monitoring. The project started on January 1st 2009 and was finished in 31 December 2011. The final project demonstration showed autonomous operation of 3 micro aerial vehicles performing 3D mapping of unknown environments for a search and rescue mission. For more information you can watch this short video or visit sFly’s web site (it hasn’t been updated for a while.)

sFly was funded by the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 231855.

Related Publications

  1. D. Scaramuzza, M.C. Achtelik, L. Doitsidis, F. Fraundorfer, E.B. Kosmatopoulos, A. Martinelli, M.W. Achtelik, M. Chli, S. A. Chatzichristofis, L. Kneip, D. Gurdan, L. Heng, G.H. Lee, S. Lynen, L. Meier, M. Pollefeys, A. Renzaglia, Roland Siegwart, J.C. Stumpf, P. Tanskanen, C. Troiani and S. Weiss, “Vision-Controlled Micro Flying Robots: from System Design to Autonomous Navigation and Mapping in GPS-denied Environments,” IEEE Robotics and Automation Magazine, vol21, issue 3, pp. 26-40, September 2014. (Front Cover)
  2. L. Doitsidis, S. Weiss, A. Renzaglia, M. W. Achtelik, E. Kosmatopoulos, R. Siegwart, D. Scaramuzza, “Optimal Surveillance Coverage for Teams of Micro Aerial Vehicles in GPS-Denied Environments using Onboad Vision,” Autonomous Robots, vol. 33, no.1-2, pp. 173-188, 2012.
  3. A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, “Multi-Robot 3D coverage of unknown areas,” International Journal of Robotics Research, Vol. 31, no.6, pp. 738-752, May 2012.
  4. A. Renzaglia, L. Doitsidis, S. A. Chatzichristofis, A. Martinelli and E. B. Kosmatopoulos, “Distributed multi-robot coverage using micro aerial vehicles,” in proceedings of the 21st Mediterranean Conference on Control and Automation, (MED’13), pp. 963-968, Platanias-Chania, Crete – Greece, June 25 – 28, 2013.
  5. M. Achtelik, M. Achtelik, Y. Brunet, M. Chli, S. A. Chatzichristofis, J.D. Decotignie, K.M. Doth, F. Fraundorfer, L. Kneip, D. Gurdan, L. Heng, E. Kosmatopoulos, L. Doitsidis, G.H. Lee, S. Lynen, A. Martinelli, L. Meier, M. Pollefeys, D. Piguet, A. Renzaglia, D. Scaramuzza, R. Siegwart, J. Stumpf, P. Tanskanen, C. Troiani and S. Weiss, “SFLY: Swarm of Micro Flying Robots,” in proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamura, Algarve, Portugal, October 7 – October 12, 2012. (Finalist for the best video award)
  6. A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, “Multi-Robot 3D Coverage of Unknown Terrains,” in proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, pp. 2046-2051, 2011.
  7. L. Doitsidis, A. Renzaglia, S. Weiss, E. Kosmatopoulos, D. Scaramuzza, R. Siegwart, “3D Surveillance Coverage Using Maps Extracted by a Monocular SLAM Algorithm,” in proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1661-1667, San Francisco, USA, 2011.
  8. A. Renzaglia, L. Doitsidis, A. Martinelli and E.B. Kosmatopoulos, “Adaptive-based Control for Distributed Multi-Robot Coverage,” 2011 American Control Conference, pp. 468-473.
  9. A. Renzaglia, L. Doitsidis, A. Martinelli, E. Kosmatopoulos, “Cognitive-based Adaptive Control for Cooperative Multi-Robot Coverage,” in proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3314-3320, Taipei, Taiwan, 2010.
  10. A. Renzaglia, L. Doitsidis, A. Martinelli, E. Kosmatopoulos, “Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance,” in proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), pp. 4618-4624, 2010.