TY - GEN
T1 - Freyja
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Shankar, Ajay
AU - Elbaum, Sebastian
AU - Detweiler, Carrick
N1 - Funding Information:
1 Department of Computer Science & Engineering., University of Nebraska-Lincoln, USA {ashankar, carrick}@cse.unl.edu 2 Department of Computer Science, University of Virginia, Virginia, USA. [email protected] This work was supported in part by NSF IIS-1925052, IIS-1638099, IIS-1925368, IIS-1924777 and NASA ULI-80NSSC20M0162.
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85124173943&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124173943&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9562076
DO - 10.1109/ICRA48506.2021.9562076
M3 - Conference contribution
AN - SCOPUS:85124173943
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 217
EP - 223
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -