Faculty Advisor

Heineman, George T.

Faculty Advisor

Michalson, William R.

Project Center

MIT Lincoln Laboratory-Lexington, Massachusetts


MIT Lincoln Laboratory has expressed growing interest in projects involving quadrotor Unmanned Aerial Vehicles (UAVs). Our tasks were to develop a system providing computerized remote control of the provided UAV, as well as to develop a high-accuracy localization system. We integrated the UAV's control system with standard Robot Operating System (ROS) software tools. We measured the reliability of the control system, and determined performance characteristics. We found our control scheme to be usable pending minor improvements. To enable localization, we explored machine vision, ultimately altering the Augmented Reality library ARToolKit to interface with ROS. After several tests, we determined that ARToolKit is not currently a feasible alternative to standard localization techniques.


Worcester Polytechnic Institute

Date Accepted

December 2010


Computer Science


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Computer Science

Advisor Department

Electrical and Computer Engineering

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