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The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley;Kartik Mohta;Shreyas S. Shivakumar;Michael Watterson;Yash Mulgaonkar;Mikael Arguedas;Ke Sun;Sikang Liu;Bernd Pfrommer;Vijay Kumar;Camillo J. Taylor
2019 International Conference on Robotics and Automation (ICRA)
Year: 2019 | Conference Paper |
Cited by: Papers (16)
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying platforms where size, weight, power consumption and computational performance were all important considerations. This manuscript describes the primary features...Show More
Inertial Velocity and Attitude Estimation for Quadrotors
James Svacha;Kartik Mohta;Michael Watterson;Giuseppe Loianno;Vijay Kumar
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Cited by: Papers (15)
This work addresses the design and implementation of a filter that estimates the orientation of the body-fixed z axis and the velocity of a quadrotor UAV from the inertial measurement unit (IMU) given a known yaw. The velocity and attitude estimation is possible since the filter employs a linear drag model measuring the drag forces on the quadrotor through the IMU. These forces are functions of th...Show More
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Kartik Mohta;Ke Sun;Sikang Liu;Michael Watterson;Bernd Pfrommer;James Svacha;Yash Mulgaonkar;Camillo Jose Taylor;Vijay Kumar
2018 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2018 | Conference Paper |
Cited by: Papers (31)
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small as possible. Aerial robots add a limitation of payload capacity, which restricts the amount of computation that can be carried onboard. This requires efficient a...Show More
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun;Kartik Mohta;Bernd Pfrommer;Michael Watterson;Sikang Liu;Yash Mulgaonkar;Camillo J. Taylor;Vijay Kumar
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for applications in autonomous flight with microaerial vehicles, in which it is difficult to use high-quality sensors and powerful processors because of constraints on si...Show More
Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments
Sikang Liu;Michael Watterson;Kartik Mohta;Ke Sun;Subhrajit Bhattacharya;Camillo J. Taylor;Vijay Kumar
There is extensive literature on using convex optimization to derive piece-wise polynomial trajectories for controlling differential flat systems with applications to three-dimensional flight for Micro Aerial Vehicles. In this work, we propose a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC). The SFC is a collection of convex...Show More
Smooth trajectory generation on SE(3) for a free flying space robot
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2016 | Conference Paper |
Cited by: Papers (6)
We propose a new optimal trajectory generation technique on SE(3) which avoids known obstacles. We leverage techniques from differential geometry and Lie algebra to formulate a cost functional which is intrinsic to the geometric structure of this space and makes physical sense. We propose an approximation technique to generate trajectories on the subgroup SO(3) and use Semidefinite Programming (SD...Show More
Visual inertial odometry for quadrotors on SE(3)
2016 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2016 | Conference Paper |
Cited by: Papers (42)
The combination of on-board sensors measurements with different statistical characteristics can be employed in robotics for localization and control, especially in GPS-denied environments. In particular, most aerial vehicles are packaged with low cost sensors, important for aerial robotics, such as camera, a gyroscope, and an accelerometer. In this work, we develop a visual inertial odometry syste...Show More
High speed navigation for quadrotors with limited onboard sensing
2016 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2016 | Conference Paper |
We address the problem of high speed autonomous navigation of quadrotor micro aerial vehicles with limited onboard sensing and computation. In particular, we propose a dual range planning horizon method to safely and quickly navigate quadrotors to specified goal locations in previously unknown and unstructured environments. In each planning epoch, a short-range planner uses a local map to generate...Show More
Safe receding horizon control for aggressive MAV flight with limited range sensing
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2015 | Conference Paper |
Cited by: Papers (32)
Micro Aerial Vehicles (MAVs) are becoming ubiquitous, but most experiments and demonstrations have been limited to slow flight except in open environments or in laboratories with motion capture systems. In this paper, we develop representations and algorithms for aggressive flight in cluttered environments. We incorporate the specific dynamics of the system and generate safe, feasible trajectories...Show More
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