IEEE Robotics & Automation Magazine - June 2015 - 32

possibility to use and control any aerial robotic platform with his
or her own smartphone. With a robust and accurate control system for autonomous flight, questions of mapping and obstacle
avoidance at moderate to high speeds (2-4 m/s) are realistic avenues for future research. Finally, we wish to use multiple devices to
enable cooperative localization and mapping of the environment,
as already developed for RGB-D cameras (see Figures 13 and 14).
Acknowledgments
This work was supported in part by the TerraSwarm Research
Center, one of six centers supported by the STARnet phase of
the Focus Center Research Program, a Semiconductor
Research Corporation program sponsored by MARCO and
the U.S. Defense Advanced Research Projects Agency; Air
Force Office of Scientific Research grant FA9550-10-1-0567;
Army Research Laboratory grants W911NF-08-2-0004 and
W911NF-10-2-0016; Office of Naval Research grants
N00014-07-1-0829, N00014-14-1-0510, N00014-09-1-1051,
N00014-11-1-0725, and N00014-09-1-103; National Science
Foundation grants PFI-1113830, IIS-1138847, and IIS1328805; and the UPS Foundation.
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Giuseppe Loianno, University of Pennsylvania, Philadelphia,
USA. E-mail: loiannog@seas.upenn.edu.
Gareth Cross, University of Pennsylvania, Philadelphia, USA.
E-mail: gcross@seas.upenn.edu.
Chao Qu, University of Pennsylvania, Philadelphia, USA.
E-mail: quchao@seas.upenn.edu.
Yash Mulgaonkar, University of Pennsylvania, Philadelphia,
USA. E-mail: yashm@seas.upenn.edu.
Joel A. Hesch, Google Inc., Mountain View, California, USA.
E-mail: joelhesch@google.com.
Vijay Kumar, University of Pennsylvania, Philadelphia, USA.
E-mail: kumar@cis.upenn.edu.
https://www.google.com/atap/projecttango http://www.ge.com/docs/chapters/Industrial_Internet.pdf http://www.mckinsey.com/insights/business_technology/disruptive_technologies http://www.economistinsights.com/ http://www.arcas-project.eu/
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2015
