Based on the collected aerodynamic data, we identify a recommended position for stable flight, which is not the center of a circular duct. We then develop a neural network-based positioning system that leverages low-cost time-of-flight sensors. And we can fly better!

Hovering inside air ducts is challenging due to the airflow generated by the rotors, which recirculates inside the duct and destabilizes the drone. We map the aerodynamic forces that affect a hovering drone in a duct using a robotic setup and a force/torque sensor.

[new paper in Nature Robotics] How to fly a drone in small air ducts? Air ducts are integral to modern buildings but are challenging to access for inspection. www.nature.com/articles/s44...