# Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural

arXiv: https://arxiv.org/abs/2511.03651 · HTML: https://mlsanity.com/paper/2511.03651/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 20 references that are in the map.
- First posted on arXiv 5 Nov 2025.

## Builds on (most cited first, 3 of 3)

- [DronePaint: Swarm Light Painting with DNN-based Gesture Recognition](https://mlsanity.com/paper/2107.11288/) (2021)
- [UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey](https://mlsanity.com/paper/2004.08174/) (2020)
- [DroneLight: Drone Draws in the Air using Long Exposure Light Painting and ML](https://mlsanity.com/paper/2007.15171/) (2020)

## Built on by (most cited first, 1 of 1)

- [Precision Meets Art: Autonomous Multi-UAV System for Large Scale Mural Drawing](https://mlsanity.com/paper/2601.06508/) (2026)

## Abstract (arXiv)

This paper presents the innovative design and successful deployment of a pioneering autonomous unmanned aerial system developed for executing the world's largest mural painted by a drone. Addressing the dual challenges of maintaining artistic precision and operational reliability under adverse outdoor conditions such as wind and direct sunlight, our work introduces a robust system capable of navigating and painting outdoors with unprecedented accuracy. Key to our approach is a novel navigation system that combines an infrared (IR) motion capture camera and LiDAR technology, enabling precise location tracking tailored specifically for largescale artistic applications. We employ a unique control architecture that uses different regulation in tangential and normal directions relative to the planned path, enabling precise trajectory tracking and stable line rendering. We also present algorithms for trajectory planning and path optimization, allowing for complex curve drawing and area filling. The system includes a custom-designed paint spraying mechanism, specifically engineered to function effectively amidst the turbulent airflow generated by the drone's propellers, which also protects the drone's critical components from paint-related damage, ensuring longevity and consistent performance. Experimental results demonstrate the system's robustness and precision in varied conditions, showcasing its potential for autonomous large-scale art creation and expanding the functional applications of robotics in creative fields.