Faculty Advisor

Wyglinski, Alexander


To facilitate the development and research of autonomous, indoor mobile robotics, the Roaming Spirit platform was created to implement localization and navigation. The Roaming Spirit platform is a light weight system (319 grams) intended for implementation on both terrestrial and aerial vehicles. The platform successfully navigated a Turtlebot through over 150 feet of hallway space, handling hallways intersections, static obstacles, and occasional interference from people walking past its line of sight. It also successfully created a map of the hallway. For a future iteration of this work, locating a safe location for further aerial testing would allow for debugging issues with the software to avoid damage to both the Roaming Spirit system and to the aerial vehicle.


Worcester Polytechnic Institute

Date Accepted

April 2016


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Electrical and Computer Engineering