人工智能核心550篇论文 机器人4.视觉导航1805.01831v4.pdfVIP

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A64mWDNN-basedVisualNavigationEngine

forAutonomousNano-Drones

DanielePalossi,AntonioLoquercio,FrancescoConti,Member,IEEE,EricFlamand,DavideScaramuzza,

Member,IEEE,LucaBenini,Fellow,IEEE

Abstract—Fully-autonomousminiaturizedrobots(e.g.,drones),

withartificialintelligence(AI)basedvisualnavigationcapa-

9bilities,areextremelychallengingdriversofInternet-of-Things

1edgeintelligencecapabilities.VisualnavigationbasedonAI

0approaches,suchasdeepneuralnetworks(DNNs)arebecoming

2pervasiveforstandard-sizedrones,butareconsideredoutof

2

yreachfornano-droneswithasizeofafewcm.Inthiswork,

awepresentthefirst(tothebestofourknowledge)demon-

strationofanavigationengineforautonomousnano-drones

Mcapableofclosed-loopend-to-endDNN-basedvisualnavigation.

Toachievethisgoalwedevelopedacompletemethodologyfor

4parallelexecutionofcomplexDNNsdirectlyonboardresource-

1constrainedmilliwatt-scalenodes.OursystemisbasedonGAP8,

anovelparallelultra-low-powercomputingplatform,anda27g

]

commercial,open-sourceCrazyFlie2.0nano-quadrotor.Aspart

Oofourgeneralmethodology,wediscussthesoftwaremapping

Rtechniquesthatenablethestate-of-the-art