Indoor Visual Exploration with Multi-Rotor Aerial Robotic Vehicles

Panagiotis Rousseas, George C. Karras, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this work, we develop a reactive algorithm for autonomous exploration of indoor, unknown environments for multiple autonomous multi-rotor robots. The novelty of our approach rests on a two-level control architecture comprised of an Artificial-Harmonic Potential Field (AHPF) for navigation and a low-level tracking controller. Owing to the AHPF properties, the field is provably safe while guaranteeing workspace exploration. At the same time, the low-level controller ensures safe tracking of the field through velocity commands to the drone’s attitude controller, which handles the challenging non-linear dynamics. This architecture leads to a robust framework for autonomous exploration, which is extended to a multi-agent approach for collaborative navigation. The integration of approximate techniques for AHPF acquisition further improves the computational complexity of the proposed solution. The control scheme and the technical results are validated through high-fidelity simulations, where all aspects, from sensing and dynamics to control, are incorporated, demonstrating the capacity of our method in successfully tackling the multi-agent exploration task.

Original languageEnglish (US)
Article number5194
Issue number14
StatePublished - Jul 2022


  • autonomous navigation
  • multi-agent systems
  • multi-rotor aerial vehicles
  • robotic exploration
  • unmanned aerial vehicles

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Instrumentation
  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering
  • Biochemistry


Dive into the research topics of 'Indoor Visual Exploration with Multi-Rotor Aerial Robotic Vehicles'. Together they form a unique fingerprint.

Cite this