A Vision Based Navigation Platform for Control Learning*

This paper presents the development of a vision based navigation control platform for conducting laboratory experiments with the micro aerial vehicle Crazyfie 2.1. A Vicon motion capture system is used to localize the nano-dron. ROS2 is used as communication layer between the crazyfies, the position control nodes and the Vicon system. The platform can be used for both research and education purposes as it is ready to design and perform experiments with the nano-drone. The architecture has been designed to optimize the available resources by means of a remote controller and event-triggered communications. The efciency of this approach is illustrated through the experimental results of an use case.