Date of Graduation

Spring 2017

Document Type

Honors Research Project

Degree Name

Bachelor of Science


Electrical Engineering

Research Sponsor

Arjuna Madanayake

First Reader

Gregory A. Lewis

Second Reader

Nicholas G. Garafolo


This project addresses the need for an autonomous indoor mapping system that will create a 3D map of an unknown physical environment in real time. The aerial system moves and avoids obstacles autonomously, without the need for human remote control or observation. An aerial system produces a map of an unknown indoor environment by transmitting data received from the aerial device’s sensors. The transmission occurs over a wireless channel from the aerial device to a remote server for processing and storage of the data. As the transmission is done in real time, the aerial system does not require hardware for storage of the map data. The remote system connected via the network will use the received information from the aerial device to create and display a 3D map of the explored space.