Led by Ph.D. Alex Spitzer, this work aimed at pushing the limits of an autonomous drone flying at high speeds using vision-based state estimation. The dynamics and disturbances experienced by the quadrotor were learned on-the-fly achieving low tracking errors and improved agility.
The drone hit a max. speed of 17m/s (38mph) and more than 1g in acceleration on aggressive trajectories that I designed, while maintaining a tracking error of <4.1%.
More information can be found in Alex’s Ph.D. Thesis.
Yves Daoud 