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Communication with unmanned missions beyond Earth orbit suffers from time delay, thus a key criterion for robotic exploration is a robot's ability to perform tasks without human intervention. For autonomous operation, all computations should be done on\u2010board and Global Navigation Satellite System (GNSS) should not be relied on for navigation purposes. Given these objectives ARDEA is equipped with two pairs of wide\u2010angle stereo cameras and an inertial measurement unit (IMU) for robust visual\u2010inertial navigation and time\u2010efficient, omni\u2010directional 3D mapping. The four cameras cover a  vertical field of view, enabling the system to operate in confined environments such as caves formed by lava tubes. The captured images are split into several pinhole cameras, which are used for simultaneously running visual odometries. The stereo output is used for simultaneous localization and mapping, 3D map generation and collision\u2010free motion planning. To operate the vehicle efficiently for a variety of missions, ARDEA's capabilities have been modularized into skills which can be assembled to fulfill a mission's objectives. These skills are defined generically so that they are independent of the robot configuration, making the approach suitable for different heterogeneous robotic teams. The diverse skill set also makes the micro aerial vehicle (MAV) useful for any task where autonomous exploration is needed. For example terrestrial search and rescue missions where visual navigation in GNSS\u2010denied indoor environments is crucial, such as partially collapsed man\u2010made structures like buildings or tunnels. We have demonstrated the robustness of our system in indoor and outdoor field tests.<\/jats:p>","DOI":"10.1002\/rob.21949","type":"journal-article","created":{"date-parts":[[2020,3,13]],"date-time":"2020-03-13T05:07:16Z","timestamp":1584076036000},"page":"515-551","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["ARDEA\u2014An MAV with skills for future planetary missions"],"prefix":"10.1002","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4552-8509","authenticated-orcid":false,"given":"Philipp","family":"Lutz","sequence":"first","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Marcus G.","family":"M\u00fcller","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Moritz","family":"Maier","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Samantha","family":"Stoneman","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Teodor","family":"Tomi\u0107","sequence":"additional","affiliation":[{"name":"Skydio and Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM)  Munich Germany"}]},{"given":"Ingo","family":"von Bargen","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6983-3719","authenticated-orcid":false,"given":"Martin J.","family":"Schuster","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Florian","family":"Steidle","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Armin","family":"Wedler","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Wolfgang","family":"St\u00fcrzl","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]},{"given":"Rudolph","family":"Triebel","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR)  We\u00dfling Germany"}]}],"member":"311","published-online":{"date-parts":[[2020,3,12]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980343"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696772"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2014.2320359"},{"key":"e_1_2_9_5_1","volume-title":"AIAA Atmospheric Flight Mechanics Conference","author":"Balaram B.","year":"2018"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139617"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-54927-9_15"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2015.7152417"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353389"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354182"},{"key":"e_1_2_9_11_1","volume-title":"2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Brunner S. 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