A swarm of flying smartphones

Giuseppe Loianno, Yash Mulgaonkar, Chris Brunner, Dheeraj Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In the last decade, consumer electronic devices such as smartphones, are packaged with small cameras, gyroscopes, and accelerometers, all sensors allowing autonomous deployment of aerial robots in GPS-denied environments. Our previous work [1], demonstrated the feasibility of using smartphones for autonomous flight. In many applications, there is a large interest to the use multiple autonomous aerial vehicles in a cooperative manner to speed up the operation of the mission. In this work, we present the first fully autonomous smartphonebased swarm of quadrotors. Multiple vehicles are able to plan safe trajectories avoiding inter-robot collisions, optimizing at the same time a given task and concurrently building in a cooperative manner a 3-D map of the environment. The sensing, sensor fusion, control, and planning are all done on an offtheshelf Samsung Galaxy S5 smartphone using just the single camera and IMU available on the phone. The work allows any consumer with multiple smartphones to autonomously drive a swarm of multiple vehicles without GPS, by downloading an app, and have the swarm cooperatively map a 3-D environment.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781509037629
StatePublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/TerritoryKorea, Republic of

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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