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

Part of the Springer Proceedings in Advanced Robotics book series (SPAR,volume 11)

Abstract

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.

A. Spitzer and X. Yang—authors contributed equally.

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Correspondence to Alex Spitzer .

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Spitzer, A. et al. (2020). Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_45

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