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Robust Autonomous Flight in Constrained and Visually Degraded Environments [chapter]

Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang, Stephen Nuske
2016 Springer Tracts in Advanced Robotics  
The environment is GPS-denied and visually degraded, containing narrow passageways, doorways and small objects protruding from the wall.  ...  To realize autonomous navigation in such challenging environments, we propose a fast and robust state estimation algorithm that fuses estimates from a direct depth odometry method and a Monte Carlo localization  ...  The experiment is conducted in a constrained and visually degraded shipboard environment, which has a size of 16m × 25.6m × 4.04m.  ... 
doi:10.1007/978-3-319-27702-8_27 fatcat:n4cfvooq5bfizfusti2se4jkwm

Relative navigation of autonomous GPS-degraded micro air vehicles

David O. Wheeler, Daniel P. Koch, James S. Jackson, Gary J. Ellingson, Paul W. Nyholm, Timothy W. McLain, Randal W. Beard
2020 Autonomous Robots  
The practicality of RN is demonstrated in several long flight tests in unknown, GPS-denied and GPS-degraded environments.  ...  Many current approaches for navigation of micro air vehicles (MAVs) in GPS-degraded environments use a globally-referenced state for estimation and control, even though this state is not observable when  ...  flight in GPS-degraded environments.  ... 
doi:10.1007/s10514-019-09899-4 fatcat:x6otjuozbnbpljanjrah4bc2c4

Autonomous indoor helicopter flight using a single onboard camera

Sai Prashanth Soundararaj, Arvind K. Sujeeth, Ashutosh Saxena
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We perform successful autonomous test flights along trajectories in two different indoor settings.  ...  We consider the problem of autonomously flying a helicopter in indoor environments. Navigation in indoor settings poses two major challenges.  ...  We address the problem of autonomous flights in indoor environments, which often have only limited free space and may contain a number of obstacles.  ... 
doi:10.1109/iros.2009.5354617 dblp:conf/iros/SoundararajSS09 fatcat:5nbvfuh5azahldap75cf2zz3hy

Duckiefloat: a Collision-Tolerant Resource-Constrained Blimp for Long-Term Autonomy in Subterranean Environments [article]

Yi-Wei Huang, Chen-Lung Lu, Kuan-Lin Chen, Po-Sheng Ser, Jui-Te Huang, Yu-Chia Shen, Pin-Wei Chen, Po-Kai Chang, Sheng-Cheng Lee, Hsueh-Cheng Wang
2019 arXiv   pre-print
However, the underground constrained passages limit the size of blimp envelope and its payload, making the proposed system resource-constrained.  ...  In order to reach long-term operation, a failure-aware algorithm with minimal communication to human supervisor to have situational awareness and send control signals to the blimp when needed.  ...  ACKNOWLEDGMENTS The research was supported by Ministry of Science and Technology, Taiwan (grant 107-2923-E009-004-MY3, 108-2218-E-007-039, 108-2321-B-009-004).  ... 
arXiv:1910.14275v1 fatcat:4snghhamxnh5nihvn4djhvbh6e

Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments

Andrew Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen Nuske, Sanjiv Singh
2014 2014 American Control Conference  
In addition, their use close to and inside structures and vegetation means that GPS signals can be degraded or all together absent.  ...  We focus on robustness against real-world conditions and evaluate performance in challenging field experiments.  ...  The work described in this paper is funded by the Office of Naval Research under grant number N00014-10-1-0715.  ... 
doi:10.1109/acc.2014.6859341 dblp:conf/amcc/ChambersSYJNS14 fatcat:ezkvcqxfsfhq5k3uw44yquacge

Deep Drone Racing: Learning Agile Flight in Dynamic Environments [article]

Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza
2018 arXiv   pre-print
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and  ...  Our method does not require any explicit map of the environment and runs fully onboard. We extensively test the precision and robustness of the approach in simulation and in the physical world.  ...  Acknowledgments This work was supported by the Intel Network on Intelligent Systems, the Swiss National Center of Competence Research Robotics (NCCR), through the Swiss National Science Foundation, and  ... 
arXiv:1806.08548v3 fatcat:qolj5xr5svf6ta4wqvpz7xr55e

Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events

Sihao Sun, Giovanni Cioffi, Coen De Visser, Davide Scaramuzza
2021 IEEE Robotics and Automation Letters  
We believe that our approach will render autonomous quadrotors safer in both GPS denied or degraded environments. We release both our controller and VIO algorithm open source.  ...  Experimental results show the advantage of using an event camera especially in low light environments due to its inherent high dynamic range and high temporal resolution.  ...  ACKNOWLEDGMENT We appreciate valuable discussions and suggestions from Zichao Zhang, Henri Rebecq, and Philipp Föhn.  ... 
doi:10.1109/lra.2020.3048875 fatcat:limz7zhodfggha6s7r2f3nj47m

Robotics and Autonomous Robots [chapter]

Henry I. Ibekwe, Ali K. Kamrani
2008 Collaborative Engineering  
geometrically constrained drift-, raiser-and cave-like environments.  ...  The main equations of flight are derived followed by an explanation of how the principles of model predictive control can be utilized for the purposes of robust flight of such Micro Aerial Vehicles and  ... 
doi:10.1007/978-0-387-47321-5_9 fatcat:mhmnwk7ksvgrle7cjgja5et2ke

Air Learning: a deep reinforcement learning gym for autonomous aerial robot visual navigation

Srivatsan Krishnan, Behzad Boroujerdian, William Fu, Aleksandra Faust, Vijay Janapa Reddi
2021 Machine Learning  
AbstractWe introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots.  ...  We seed the toolset with point-to-point obstacle avoidance tasks in three different environments and Deep Q Networks (DQN) and Proximal Policy Optimization (PPO) trainers.  ...  Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long  ... 
doi:10.1007/s10994-021-06006-6 fatcat:zvrkocl7arb7vpdnlulhd3gb7u

A high-performance MAV for autonomous navigation in complex 3D environments

Marius Beul, Nicola Krombach, Yongfeng Zhong, David Droeschel, Matthias Nieuwenhuisen, Sven Behnke
2015 2015 International Conference on Unmanned Aircraft Systems (ICUAS)  
Key prerequisites for the fully autonomous operation of micro aerial vehicles in complex 3D environments include real-time state estimation, obstacle detection, mapping, and navigation planning.  ...  In this paper, we describe an integrated system with a multimodal sensor setup for omnidirectional environment perception and 6D state estimation.  ...  For autonomous navigation in complex 3D environments, sufficient onboard sensors and computing power are needed in order to perceive and avoid obstacles, build 3D maps of the environment and plan flight  ... 
doi:10.1109/icuas.2015.7152417 fatcat:gtdiiubaqrbpzizht7qfk6gxku

Edge Computing Assisted Autonomous Flight for UAV: Synergies between Vision and Communications [article]

Quan Chen, Hai Zhu, Lei Yang, Xiaoqian Chen, Sofie Pollin, Evgenii Vinogradov
2020 arXiv   pre-print
Autonomous flight for UAVs relies on visual information for avoiding obstacles and ensuring a safe collision-free flight.  ...  In addition to visual clues, safe UAVs often need connectivity with the ground station. In this paper, we study the synergies between vision and communications for edge computing-enabled UAV flight.  ...  The above formulated constrained optimization problem is solved at each moment in real-time, with updated environment map and radio map, until the UAV reaches its destination. V.  ... 
arXiv:2012.05517v1 fatcat:zdb57foferfwvfm35yubpvlu6u

2009 Subject Index

2009 Journal of Spacecraft and Rockets  
Durability (Including Fatigue, Fracture, and Environmental Degradation) 409-002 Degradation of Mechanical Properties of Polyimide Film Exposed to Space Environment 409-031 Investigations into Synergistic  ...  Array Electrostatic Discharge Current Waveforms and Test Results 409-003 Passive Space-Environment-Effect Measurement on the International Space Station 409-140 Hot- and Cold-Case Orbits for Robust Thermal  ... 
doi:10.2514/1.47632 fatcat:li4u3whjnjb6ncdh24ce3iw2qa

An adaptive vision-based autopilot for mini flying machines guidance, navigation and control

Farid Kendoul, Kenzo Nonami, Isabelle Fantoni, Rogelio Lozano
2009 Autonomous Robots  
The proposed autopilot includes a Visual Odometer (VO) for navigation in GPS-denied environments and a nonlinear control system for flight control and target tracking.  ...  The VO estimates the rotorcraft ego-motion by identifying and tracking visual features in the environment, using a single camera mounted on-board the vehicle.  ...  flights in natural environments with poor texture.  ... 
doi:10.1007/s10514-009-9135-x fatcat:vfazq3whbrfgpcru5zewzzistu

An autonomous drone-based system for inspection of electrical substations

Helge-André Langåker, Håkon Kjerkreit, Christoffer L Syversen, Richard JD Moore, Øystein H Holhjem, Irene Jensen, Aiden Morrison, Aksel A Transeth, Oddgeir Kvien, Gunnar Berg, Thomas A Olsen, Alexander Hatlestad (+3 others)
2021 International Journal of Advanced Robotic Systems  
and robustness to harsh weather capability; (2) a drone hangar for remote operations; and (3) drone operations and data acquisition management software.  ...  In the years to come, large power grid operators will operate and maintain an ever-increasing asset base.  ...  environments, and some diagnostic and troubleshooting capabilities (such as an internal camera for visual inspection of the UAV).  ... 
doi:10.1177/17298814211002973 doaj:224621fcd13c417593971dd5b1914ced fatcat:7h3csi6bebeilmxupx6yhquwlm

Control and perception techniques for aerial robotics

Aníbal Ollero, Luís Merino
2004 Annual Reviews in Control  
Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems. #  ...  This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms.  ...  Acknowledgements This work has been carried out in the framework of the COMETS project (European Commission, IST 2001-34304) and the CROMAT project (Spanish National Research Programme DPI2002-04401-  ... 
doi:10.1016/j.arcontrol.2004.05.003 fatcat:3ibny2zinbbobdq25n7mveudm4
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