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Anemoi: A Low-cost Sensorless Indoor Drone System for Automatic Mapping of 3D Airflow Fields

Authors:

Charuvahan Adhivarahan,

Xiaofan JiangAuthors Info & Claims

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

Article No.: 77, Pages 1 - 16

https://doi.org/10.1145/3570361.3613292

Published: 02 October 2023 Publication History

Abstract

Mapping 3D airflow fields is important for many HVAC, industrial, medical, and home applications. However, current approaches are expensive and time-consuming. We present Anemoi, a sub-$100 drone-based system for autonomously mapping 3D airflow fields in indoor environments. Anemoi leverages the effects of airflow on motor control signals to estimate the magnitude and direction of wind at any given point in space. We introduce an exploration algorithm for selecting optimal waypoints that minimize overall airflow estimation uncertainty. We demonstrate through microbenchmarks and real deployments that Anemoi is able to estimate wind speed and direction with errors up to 0.41 m/s and 25.1° lower than the existing state of the art and map 3D airflow fields with an average RMS error of 0.73 m/s.

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Cited By

Zhao CRuan CXu JWang HWang SLi JZha JYang ZLiu YZhang XChen XGanesan DLane NShi W(2024)Foes or Friends: Embracing Ground Effect for Edge Detection on Lightweight DronesProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3690699(1377-1392)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3690699

Index Terms

Anemoi: A Low-cost Sensorless Indoor Drone System for Automatic Mapping of 3D Airflow Fields
1. Computer systems organization
  1. Embedded and cyber-physical systems

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cover image ACM Conferences

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

October 2023

1605 pages

ISBN:9781450399906

DOI:10.1145/3570361

Chairs:
Xavier Costa,
Joerg Widmer,
Co-chairs:
Diego Perino,
Domenico Giustiniano,
Program Chair:
Haitham Al Hassanieh,
Program Co-chairs:
Arash Asadi,
Landon Cox

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Published: 02 October 2023

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ACM MobiCom '23: 29th Annual International Conference on Mobile Computing and Networking

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Cited By

Zhao CRuan CXu JWang HWang SLi JZha JYang ZLiu YZhang XChen XGanesan DLane NShi W(2024)Foes or Friends: Embracing Ground Effect for Edge Detection on Lightweight DronesProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3690699(1377-1392)Online publication date: 4-Dec-2024
https://dl.acm.org/doi/10.1145/3636534.3690699

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