Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone, especially in stressful situations of real emergencies. The conditions of disaster scenarios are also challenging for autonomous MAV systems. The environment is usually not known in advance and GNSS might not always be available. We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems. The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.

翻译：微型航空飞行器(MAV)在信息收集任务方面有很大潜力,以支持在搜索和救援情景中了解情况;在这类情景中对MAV进行人工控制需要经验丰富的飞行员,而且容易出错,特别是在实际紧急情况的紧张情况下;对自主的MAV系统而言,灾害情景的条件也具有挑战性;环境通常事先不为人所知,全球导航卫星系统可能并不总是可用;我们在不依赖全球定位系统的未知环境中为MAV自动飞行提供系统;在多个搜索和救援情景中评估这种方法,允许安全自主飞行,即使在室内和室外过渡时也是如此。