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Juergen Eckert, Reinhard German and Falko Dressler, "Towards Autonomous Indoor Flights Using Wireless Sensor Network Based Localization," Proceedings of 10. GI/ITG KuVS Fachgespräch Drahtlose Sensornetze (FGSN 2011), Paderborn, Germany, September 2011, pp. 1–4.


Indoor hovering objects such as quadrotors need to continuously be controlled to hold their position in space. For real autonomous flight of these copters, the necessary position control including all related information transfers have to be provided in a fully decentralized and autonomous manner. We discuss challenges related to flight control based on our Autonomous Localization Framework (ALF), which provides scalable and decentralized localization in GPS-denied areas. Using a sensor network based on the IEEE 802.15.4 communication protocol, continuous position maintenance is feasible but, unfortunately, in no way stable. Therefore, we introduce a sensor array, which reduces the system dynamics and allows a robust position control of the platform.

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Juergen Eckert
Reinhard German
Falko Dressler

BibTeX reference

    author = {Eckert, Juergen and German, Reinhard and Dressler, Falko},
    title = {{Towards Autonomous Indoor Flights Using Wireless Sensor Network Based Localization}},
    pages = {1--4},
    address = {Paderborn, Germany},
    booktitle = {10. GI/ITG KuVS Fachgespr{\"{a}}ch Drahtlose Sensornetze (FGSN 2011)},
    month = {9},
    year = {2011},

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