An Autonomous Multivehicle System for

This paper documents the Waterloo Aerial Robotics Group’s design strategy for a system of autonomous air vehicles for the International Aerial Robotics Competition. The vehicles will have the ability to fly autonomously to a target building, identify the building and an opening in it, enter the building, and navigate through it in order to locate and photograph a target object. This paper presents the overall methodology used in designing the system, including the control, vision and intelligent navigation schemes, as well as some innovative hardware and software solutions. A discussion of the group’s strategy to complete the objectives of the competition is given.