We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent advancements in visual-inertial state estimation and teleoperation. Our teleoperation framework maps user inputs onto smooth and dynamically feasible motion primitives. Collision-free trajectories are ensured by querying a locally consistent map that is incrementally constructed from forward-facing depth observations. Our system enables a non-expert operator to safely navigate a multirotor around obstacles at speeds of 10 m/s. We achieve autonomous flights at speeds exceeding 12 m/s and accelerations exceeding 12 m/s\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^2$$\end{document} in a series of outdoor field experiments that validate our approach.


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    Title :

    Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:
    Xiao, Jing (editor) / Kröger, Torsten (editor) / Khatib, Oussama (editor) / Spitzer, Alex (author) / Yang, Xuning (author) / Yao, John (author) / Dhawale, Aditya (author) / Goel, Kshitij (author) / Dabhi, Mosam (author) / Collins, Matt (author)

    Conference:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Publication date :

    2020-01-23


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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