Bio-inspired Autonomous Exploration Policies with CNN-based Object Detection on Nano-drones
Lorenzo Lamberti, Luca Bompani, Victor Kartsch, Manuele Rusci, Daniele Palossi, Luca Benini · 2023
Nano-sized drones, with palm-sized form factor, are gaining relevance in the Internet-of-Things ecosystem. Achieving a high degree of autonomy for complex multi-objective missions (e.g., safe flight, exploration, object detection) is extremely challenging for the onboard chip-set due to tight size, payload (2unknown room in a 3 minutes flight. By combining the detection CNN and the exploration policy, we show an average detection rate of 90 % on six target objects in a never-seen-before environment.