Abstract
In the ReSSAC project, two uninhabited rotorcraft have been equipped with a dependable supervision architecture implementing autonomous capabilities of reactive obstacle avoidance, navigation, take-off, landing, perception and decision. It can localize surrounding obstacles thanks to an embedded monocular stereovision system. It can adapt to its environment and replan its (motion and perception) action strategy taking into account uncertainties due to atmospheric conditions, or due to the ill-known map of the terrain, potentially obstructed by obstacles. A variety of flight demonstrations of the ReSSAC UAV exploring, deciding and landing in a partially known unprepared non-cooperative environment have been performed.
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