TY - CHAP
T1 - Multirotor Docking with an Airborne Platform
AU - Shankar, Ajay
AU - Elbaum, Sebastian
AU - Detweiler, Carrick
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - Multirotor systems have traditionally been employed for missions that ensure minimal contact with the objects in their vicinity. However, their agile flight dynamics lets them sense, plan and react rapidly, and therefore perform highly dynamic missions. In this work, we push their operational envelope further by developing a complete framework that allows a multirotor to dock with a moving platform. Our approach builds on state-of-the-art and optimal methods for estimating and predicting the state of the moving platform, as well as for generating interception trajectories for the docking multirotor. Through a total of 25 field tests outdoors, we demonstrate the capabilities of our system in docking with a platform moving at different speeds and in various operating conditions. We also evaluate the quality of our system’s trajectory following at speeds over 2 m/s to effect docking within 10 s.
AB - Multirotor systems have traditionally been employed for missions that ensure minimal contact with the objects in their vicinity. However, their agile flight dynamics lets them sense, plan and react rapidly, and therefore perform highly dynamic missions. In this work, we push their operational envelope further by developing a complete framework that allows a multirotor to dock with a moving platform. Our approach builds on state-of-the-art and optimal methods for estimating and predicting the state of the moving platform, as well as for generating interception trajectories for the docking multirotor. Through a total of 25 field tests outdoors, we demonstrate the capabilities of our system in docking with a platform moving at different speeds and in various operating conditions. We also evaluate the quality of our system’s trajectory following at speeds over 2 m/s to effect docking within 10 s.
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U2 - 10.1007/978-3-030-71151-1_5
DO - 10.1007/978-3-030-71151-1_5
M3 - Chapter
AN - SCOPUS:85107076224
T3 - Springer Proceedings in Advanced Robotics
SP - 47
EP - 59
BT - Springer Proceedings in Advanced Robotics
PB - Springer Science and Business Media B.V.
ER -