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@article{201606,
        author = {Krushna Popat Jagtap and Vandesh  Devidas Ghodke and Aryan Santosh Shelar and Ninad Chandrashekhar Metkar},
        title = {Simulation and Design of an Autonomous Quadcopter for 2D Mapping},
        journal = {International Journal of Innovative Research in Technology},
        year = {2026},
        volume = {12},
        number = {12},
        pages = {4749-4758},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=201606},
        abstract = {Indoor environments present a major challenge for autonomous aerial systems. This is because there are no GPS signals, moving obstacles, and limited space. This paper shows the simulation, design, and testing of a low-cost autonomous quadcopter system designed for indoor two-dimensional (2D) occupancy-grid mapping. The system combines the RPLiDAR A1M8 360-degree laser range scanner with the Pixhawk PX4 open-source flight controller and a Raspberry Pi 4 companion computer running the Robot Operating System (ROS) middleware. The Hector SLAM algorithm creates real-time maps without relying on wheel odometry, making the system ideal for GPS-denied aerial platforms. Before fabrication, we validated the design using software-in-the-loop (SITL) simulation with Gazebo and the PX4 SITL framework. The total hardware cost is kept under INR 50,000, which is more than a 95% reduction compared to commercial mapping UAV platforms, while achieving mapping accuracy of less than 10 cm. We verified its industrial use in seven sectors, including warehouse logistics, construction monitoring, underground mine surveying, and disaster-response operations.},
        keywords = {Autonomous Quadcopter, Indoor 2D Mapping, LiDAR, PX4 Flight Controller, Hector SLAM, ROS, Occupancy Grid, SITL Simulation, Gazebo, Warehouse Automation, Industry 4.0},
        month = {May},
        }