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Team NimbRo at MBZIRC 2017: Fast landing on a moving target and treasure hunting with a team of micro aerial vehicles

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JOURNAL OF FIELD robotics 2019年第1期36卷 204-229页

作者： Beul, Marius Nieuwenhuisen, Matthias Quenzel, Jan Rosu, Radu Alexandru Horn, Jannis Pavlichenko, Dmytro Houben, Sebastian Behnke, Sven Univ Bonn Inst Comp Sci 6 Autonomous Intelligent Syst Grp D-53115 Bonn Germany

The Mohamed Bin Zayed International robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based and flying robots. This study covers our approaches to solve the two challenges that involved micro aerial vehicles (MAV). Challenge 1 required reliable target perception, fast trajectory planning, and stable control of an MAV to land on a moving vehicle. Challenge 3 demanded a team of MAVs to perform a search and transportation task, coined "Treasure Hunt," which required mission planning and multirobot coordination as well as adaptive control to account for the additional object weight. We describe our base MAV setup and the challenge-specific extensions, cover the camera-based perception, explain control and trajectory-planning in detail, and elaborate on mission planning and team coordination. We evaluated our systems in simulation as well as with real-robot experiments during the competition in Abu Dhabi. With our system, we-as part of the larger team NimbRo- won the MBZIRC Grand Challenge and achieved a third place in both subchallenges involving flying robots.

关键词： aerial robotics control cooperative robots mobile manipulation perception

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Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2012年第1-4期65卷 373-387页

作者： Carrillo, Luis Rodolfo Garcia Dzul Lopez, Alejandro Enrique Lozano, Rogelio Pegard, Claude Univ Technol Compiegne CNRS Heudiasyc UMR 6599 Compiegne France Inst Tecnol La Laguna Div Estudios Posgrado & Invest Torreon Coahuila Mexico UMI LAFMIA CINVESTAV CNRS Mexico City DF Mexico Univ Picardie Jules Verne Modelisat Informat & Sy Amiens France

This paper presents the development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system. Our objective consists of developing a UAV capable of autonomously perform take-off, positioning, navigation and landing in unknown environments. In order to provide accurate estimates of the UAV position and velocity, stereo visual odometry and inertial measurements are fused using a Kalman Filter. Real-time experiments consisting on motion detection and autonomous positioning demonstrate the performance of the robotic platform.

关键词： UAV Quad-rotor Navigation Localization Computer vision Stereo vision Ego-motion Data fusion aerial robotics Autonomous robots

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Flydar: A Passive Scanning Flying Lidar Sensing System for SLAM Using a Single Laser

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IEEE SENSORS JOURNAL 2022年第2期22卷 1746-1755页

作者： Tan, Chee How Bin Shaiful, Danial Sufiyan Tang, Emmanuel Soh, Gim Song Foong, Shaohui Singapore Univ Technol & Design Engn Prod Dev Pillar Singapore 487372 Singapore

This paper presents the Flying Lidar (Flydar) aerial robot for simultaneous localization and mapping (SLAM). The Flydar integrates a single laser and capitalizes on the rotating dynamics of a nature-inspired aerial robot for omnidirectional scanning. This paper presents a 2.5D SLAM approach using the Flydar and does not assume that the Flydar's hovering plane, and thus the laser scan, is parallel to the ground plane, which is a key assumption in our previous work. A quaternion-based filter performs active correction of the Flydar's laser scan due to its transient attitude. A dual-accelerometer approach was incorporated to estimate the Flydar's scan rate during high angular rates flight beyond the gyroscope dynamic range. The proposed attitude filter output was experimentally evaluated statically on a bench-top setup and dynamically in flight, with an rms inclination estimate error of up to 1.1 degrees and 0.38 degrees respectively. The attitude-corrected lidar scan was used to estimate the robot pose for 2.5D SLAM. The 2.5D SLAM was experimentally validated on the Flydar and demonstrated to be superior to pure 2D SLAM in loop closure, position estimate drift, and rms error. Significantly, the 2.5D SLAM using the Flydar reports a low rms Euclidean error of up to 0.083 m, which is a 32.0% error reduction compared with our previous work, which uses 2D SLAM.

关键词： Sensors Simultaneous localization and mapping Robots Laser radar Robot kinematics Estimation Accelerometers aerial robotics lidar robotics and automation sensor applications

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Robust Active Visual Perching With Quadrotors on Inclined Surfaces

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IEEE TRANSACTIONS ON robotics 2023年第3期39卷 1836-1852页

作者： Mao, Jeffrey Nogar, Stephen Kroninger, Christopher M. M. Loianno, Giuseppe NYU Tandon Sch Engn Brooklyn NY 11201 USA DEVCOM Army Res Lab Adelphi MD 20783 USA

Autonomous micro aerial vehicles are deployed for a variety of tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time without the need to frequently replace batteries. This article addresses the active visual perching (AVP) control problem to autonomously perch on inclined surfaces up to 90 degrees C. Our approach generates dynamically feasible trajectories to navigate and perch on a desired target location while taking into account actuator and field-of-view constraints. By replanning in midflight, we take advantage of more accurate target localization increasing the perching maneuver's robustness to target localization or control errors. We leverage the Karush-Kuhn-Tucker (KKT) conditions to identify the compatibility between planning objectives and the visual sensing constraint during the planned maneuver. Furthermore, we experimentally identify the corresponding boundary conditions that maximize the spatio-temporal target visibility during the perching maneuver. The proposed approach works on-board in real time with significant computational constraints relying exclusively on cameras and an inertial measurement unit. Experimental results validate the proposed approach and show a higher success rate as well as increased target interception precision and accuracy compared to a one-shot planning approach, while still retaining aggressive capabilities with flight envelopes that include large displacements from the hover position on inclined surfaces up to 90(degrees)C, angular speeds up to 750(degrees)/s, and accelerations up to 10 m/s(2).

关键词： aerial robotics perception-aware planning vision for robotics

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Embedded, real-time UAV control for improved, image-based 3D scene reconstruction

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MEASUREMENT 2016年 81卷 264-269页

作者： Lienard, Jean Vogs, Andre Gatziolis, Demetrios Strigul, Nikolay Washington State Univ Dept Math & Stat Vancouver WA 98686 USA Intel Inc Hillsboro OR 97124 USA US Forest Serv USDA Pacific NW Res Stn Portland OR 97204 USA

Unmanned aerial Vehicles (UAVs) are already broadly employed for 3D modeling of large objects such as trees and monuments via photogrammetry. The usual workflow includes two distinct steps: image acquisition with UAV and computationally demanding post-flight image processing. Insufficient feature overlaps across images is a common shortcoming in post-flight image processing resulting in the failure of 3D reconstruction. Here we propose a real-time control system that overcomes this limitation by targeting specific spatial locations for image acquisition thereby providing sufficient feature overlap. We initially benchmark several implementations of the Scale-Invariant Feature Transform (SIFT) feature identification algorithm to determine whether they allow real-time execution on the low-cost processing hardware embedded on the UAV. We then experimentally test our UAV platform in virtual and real-life environments. The presented architecture consistently decreases failures and improves the overall quality of 3D reconstructions. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： 3D reconstruction aerial robotics Computer vision robotics in agriculture and forestry Real-time photogrammetry

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The AutoSOAR autonomous soaring aircraft part 2: Hardware implementation and flight results

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JOURNAL OF FIELD robotics 2018年第4期35卷 435-458页

作者： Depenbusch, Nathan T. Bird, John J. Langelaan, Jack W. Penn State Univ Dept Aerosp Engn University Pk PA 16802 USA

Autonomous soaring has the potential to greatly improve both the range and endurance of small robotic aircraft. This paper describes the results of a test flight campaign to demonstrate an autonomous soaring system that generates a dynamic map of lift sources (thermals) in the environment and uses this map for on-line flight planning and decision making. The aircraft is based on a commercially available radio-controlled glider;it is equipped with an autopilot module for low-level flight control and on-board computer that hosts all autonomy algorithms. Components of the autonomy algorithm include thermal mapping, explore/exploit decision making, navigation, optimal airspeed computation, thermal centering control, and energy state estimation. A finite state machine manages flight behaviors and switching between behaviors. Flight tests at Aberdeen Proving Ground resulted in 7.8 h flight time with the autonomous soaring system engaged, with three hours spent climbing in thermals. Postflight computation of energy state and frequent observations of groups of birds thermalling with our aircraft indicate that it was effectively exploiting available energy.

关键词： aerial robotics bio-inspired methods exploration mapping UAV

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A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation

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IEEE TRANSACTIONS ON robotics 2015年第6期31卷 1294-1310页

作者： Mueller, Mark W. Hehn, Markus D'Andrea, Raffaello ETH Inst Dynam Syst & Control CH-8092 Zurich Switzerland

A method is presented for the rapid generation and feasibility verification of motion primitives for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the quadrocopter's initial state, the desired motion duration, and any combination of components of the quadrocopter's position, velocity, and acceleration at the motion's end. Closed-form solutions for the primitives are given, which minimize a cost function related to input aggressiveness. Computationally efficient tests are presented to allow for rapid feasibility verification. Conditions are given under which the existence of feasible primitives can be guaranteed a priori. The algorithm may be incorporated in a high-level trajectory generator, which can then rapidly search over a large number of motion primitives which would achieve some given high-level goal. It is shown that a million motion primitives may be evaluated and compared per second on a standard laptop computer. The motion primitive generation algorithm is experimentally demonstrated by tasking a quadrocopter with an attached net to catch a thrown ball, evaluating thousands of different possible motions to catch the ball.

关键词： aerial robotics motion control motion primitive quadrocopter

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robotics goes PRISMA

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ROBOTICA 2024年第12期42卷 4260-4287页

作者： Selvaggio, Mario Moccia, Rocco Arpenti, Pierluigi Caccavale, Riccardo Ruggiero, Fabio Cacace, Jonathan Ficuciello, Fanny Finzi, Alberto Lippiello, Vincenzo Villani, Luigi Siciliano, Bruno Univ Naples Federico II Dept Elect Engn & Informat Technol Naples Italy

In this article, we review the main results achieved by the research activities carried out at PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary team of experts developed robots that are ultimately useful to humans. We summarize the key contributions made in the last decade in the six research areas of dynamic manipulation and locomotion, aerial robotics, human-robot interaction, artificial intelligence and cognitive robotics, industrial robotics, and medical robotics. After a brief overview of each research field, the most significant methodologies and results are reported and discussed, highlighting their cross-disciplinary and translational aspects. Finally, the potential future research directions identified are discussed.

关键词： aerial robotics control of robotic systems legged robots non-prehensile manipulation surgical robots teleoperation

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A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2016年第1-4期84卷 601-620页

作者： Pestana, Jesus Luis Sanchez-Lopez, Jose de la Puente, Paloma Carrio, Adrian Campoy, Pascual UPM CSIC Comp Vis Grp Ctr Automat & Robot Calle Jose Gutierrez Abascal 2 Madrid 28006 Spain

This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no centralized coordination whose robotic agents share their position estimates. The capability of each agent to navigate avoiding collisions is a consequence of the resulting emergent behavior. Each agent consists of a ground station running an instance of the proposed architecture that communicates over WiFi with an AR Drone 2.0 quadrotor. Visual markers are employed to sense and map obstacles and to improve the pose estimation based on Inertial Measurement Unit (IMU) and ground optical flow data. Based on our architecture, each robotic agent can navigate avoiding obstacles and other members of the multi-robot system. The solution is demonstrated and the achieved navigation performance is evaluated by means of experimental flights. This work also analyzes the capabilities of the presented solution in simulated flights of the IMAV 2013 Indoor Challenge. The performance of the CVG UPM team was awarded with the First Prize in the Indoor Autonomy Challenge of the IMAV 2013 competition.

关键词： aerial robotics Distributed robot systems Multi-robot coordination Visual navigation Quadrotor Obstacle avoidance Mobile robots Remotely operated vehicles MAV

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Design, modeling, and control of an aerial manipulator for placement and retrieval of sensors in the environment

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JOURNAL OF FIELD robotics 2020年第7期37卷 1224-1245页

作者： Hamaza, Salua Georgilas, Ioannis Heredia, Guillermo Ollero, Anibal Richardson, Thomas Univ Bristol Dept Aerosp Engn Bristol Avon England Univ Bath Dept Mech Engn Bath Avon England Univ Seville Dept Syst Engn & Automat Seville Spain

On-site inspection of large-scale infrastructure often involves high risks for the operators and high insurance costs. Despite several safety measures already in place to avoid accidents, an increasing concern has brought the need to remotely monitor hard-to-reach locations, for which the use of aerial robots able to interact with the environment has arisen. In this paper a novel approach to aerial manipulation is presented, where a compact manipulator with a single degree-of-freedom is tailored for the placement and retrieval of sensors in the environment. The proposed design integrates on-board sensing, a high-performance force controller on the manipulator, and a thrust-to-force mapping on the flight controller. Experimental results demonstrate the high reliability achieved during both placement and retrieval tasks on flat surfaces (e.g., a bridge wall) and cylindrical surfaces (e.g., tree trunks). A total number of 89 flight experiments were carried out to demonstrate the robustness and potential of the compact, bespoke aerial design.

关键词： aerial robotics environmental monitoring forestry manipulators mechanisms

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