Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights

Ajay Shankar, Sebastian Elbaum, Carrick Detweiler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Several independent approaches exist for state estimation and control of multirotor unmanned aerial systems (UASs) that address specific and constrained operational conditions. This work presents a complete end-to-end pipeline that enables precise, aggressive and agile maneuvers for multirotor UASs under real and challenging outdoor environments. We leverage state-of-the-art optimal methods from the literature for trajectory planning and control, such that designing and executing dynamic paths is fast, robust and easy to customize for a particular application. The complete pipeline, built entirely using commercially available components, is made open-source and fully documented to facilitate adoption. We demonstrate its performance in a variety of operational settings, such as hovering at a spot under dynamic wind speeds of up to 5-6 m/s (12-15 mi/h) while staying within 12 cm of 3D error. We also characterize its capabilities in flying high-speed trajectories outdoors, and enabling fast aerial docking with a moving target with planning and interception occurring in under 8 s.

Original languageEnglish (US)
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages217-223
Number of pages7
ISBN (Electronic)9781728190778
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: May 30 2021Jun 5 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period5/30/216/5/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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