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The REEF Estimator is an open source velocity estimator and control bundle for aerial robots. It is intended to be used by research groups to establish flight capabilities in an indoor lab environment. The REEF Estimator is an easy-to-use flight system that allows users to have a vehicle flying in a reliable manner without the need for GPS or motion capture. We believe that this work can be highly valuable for a wide range of research activities and can expedite the process of having a flying platform. The REEF Estimator is not intended to demonstrate state-of-the-art flight capabilities, but rather to be a tractable, functional and easy-to-use implementation that offers new laboratories and students a solid launching point for multirotor-based project development.
The image below shows the overall design of the system:
The REEF Estimator can also be used to test your controls and estimation algorithm in Gazebo using the reef_estimator_sim_bundle.
If you found this package useful, please cite us:
@inproceedings{ramos2019reef,
title={REEF Estimator: A Simplified Open Source Estimator and Controller for Multirotors},
author={Ramos, J Humberto and Ganesh, Prashant and Warke, William and Volle, Kyle and Brink, Kevin},
booktitle={2019 IEEE National Aerospace and Electronics Conference (NAECON)},
pages={606--613},
year={2019},
organization={IEEE}
}