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^2 in a series of outdoor field experiments that validate our approach.
@article{arxiv.1905.13419,
title = {Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor},
author = {Alex Spitzer and Xuning Yang and John Yao and Aditya Dhawale and Kshitij Goel and Mosam Dabhi and Matt Collins and Curtis Boirum and Nathan Michael},
journal= {arXiv preprint arXiv:1905.13419},
year = {2020}
}
Comments
Presented at International Symposium on Experimental Robotics (ISER), November 2018