Electronic Theses and Dissertations

Date of Award


Document Type


Degree Name

M.S. in Engineering Science


Electrical Engineering

First Advisor

Byunghyun Jang

Second Advisor

Philip J. Rhodes

Third Advisor

Feng Wang

Relational Format



This thesis presents an indoor autonomous drone system using a self assembled drone which uses a companion computer as well as external sensors for autonomous flight. While autonomous drone systems have been around for some time, originating with the military, the vast majority of them are designed for outdoor use, because of their heavy reliance on GPS for their positioning systems. In order to achieve autonomous flight indoors we choose to use simultaneous localization and mapping (slam) as our positioning system. The contributions of this thesis is an in depth guide to the hardware and assembly of a drone system, the software required for a basic drone set-up as well as additional software needed for autonomous operations, and finally the results of the project along with the difficulties and setbacks that were encountered.



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