Fast, autonomous flight in GPS‐denied and cluttered environments
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe th...
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| Published in | Journal of field robotics Vol. 35; no. 1; pp. 101 - 120 |
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| Main Authors | , , , , , , , , , , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Hoboken
Wiley Subscription Services, Inc
01.01.2018
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| Subjects | |
| Online Access | Get full text |
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| Abstract | One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development and present results from extensive experimental testing in real‐world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS‐denied environments. |
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| AbstractList | One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments. |
| Author | Zhu, Alex Kumar, Vijay Makineni, Anurag Delmerico, Jeffrey Scaramuzza, Davide Karydis, Konstantinos Atanasov, Nikolay Daniilidis, Kostas Mohta, Kartik Loianno, Giuseppe Liu, Sikang Sun, Ke Watterson, Michael Saulnier, Kelsey Qu, Chao Mulgaonkar, Yash Taylor, Camillo Jose |
| Author_xml | – sequence: 1 givenname: Kartik orcidid: 0000-0002-0932-6475 surname: Mohta fullname: Mohta, Kartik email: kmohta@seas.upenn.edu organization: University of Pennsylvania – sequence: 2 givenname: Michael surname: Watterson fullname: Watterson, Michael organization: University of Pennsylvania – sequence: 3 givenname: Yash surname: Mulgaonkar fullname: Mulgaonkar, Yash organization: University of Pennsylvania – sequence: 4 givenname: Sikang surname: Liu fullname: Liu, Sikang organization: University of Pennsylvania – sequence: 5 givenname: Chao surname: Qu fullname: Qu, Chao organization: University of Pennsylvania – sequence: 6 givenname: Anurag surname: Makineni fullname: Makineni, Anurag organization: University of Pennsylvania – sequence: 7 givenname: Kelsey surname: Saulnier fullname: Saulnier, Kelsey organization: University of Pennsylvania – sequence: 8 givenname: Ke surname: Sun fullname: Sun, Ke organization: University of Pennsylvania – sequence: 9 givenname: Alex surname: Zhu fullname: Zhu, Alex organization: University of Pennsylvania – sequence: 10 givenname: Jeffrey surname: Delmerico fullname: Delmerico, Jeffrey organization: University of Zurich – sequence: 11 givenname: Konstantinos surname: Karydis fullname: Karydis, Konstantinos organization: University of Pennsylvania – sequence: 12 givenname: Nikolay surname: Atanasov fullname: Atanasov, Nikolay organization: University of Pennsylvania – sequence: 13 givenname: Giuseppe surname: Loianno fullname: Loianno, Giuseppe organization: University of Pennsylvania – sequence: 14 givenname: Davide surname: Scaramuzza fullname: Scaramuzza, Davide organization: University of Zurich – sequence: 15 givenname: Kostas surname: Daniilidis fullname: Daniilidis, Kostas organization: University of Pennsylvania – sequence: 16 givenname: Camillo Jose surname: Taylor fullname: Taylor, Camillo Jose organization: University of Pennsylvania – sequence: 17 givenname: Vijay surname: Kumar fullname: Kumar, Vijay organization: University of Pennsylvania |
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| SubjectTerms | aerial robotics Autonomous navigation collision avoidance field robots Flight Global positioning systems GPS localization mapping motion and path planning motion control Robots Robustness (mathematics) Satellite navigation systems sensor fusion Systems design |
| Title | Fast, autonomous flight in GPS‐denied and cluttered environments |
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