TY - GEN
T1 - Towards Aerial Recovery of Parachute-Deployed Payloads
AU - Shankar, Ajay
AU - Elbaum, Sebastian
AU - Detweiler, Carrick
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Sensor payloads suspended from parachutes are often used in atmospheric profiling applications. They drift freely and often end up landing in inaccessible regions that make their retrieval challenging or impossible. In this paper, we develop and evaluate an approach using a multirotor unmanned aerial system to autonomously retrieve the parachute while it is still in the air. The system relies only on the initial conditions of the parachute-payload system and feedback from the vehicle's onboard cameras to track and then intercept the parachute mid-air in under 40 seconds on average. We present the results from our field experiments where we demonstrate the feasibility of the system and discuss its applicability to long-term payload transportation systems.
AB - Sensor payloads suspended from parachutes are often used in atmospheric profiling applications. They drift freely and often end up landing in inaccessible regions that make their retrieval challenging or impossible. In this paper, we develop and evaluate an approach using a multirotor unmanned aerial system to autonomously retrieve the parachute while it is still in the air. The system relies only on the initial conditions of the parachute-payload system and feedback from the vehicle's onboard cameras to track and then intercept the parachute mid-air in under 40 seconds on average. We present the results from our field experiments where we demonstrate the feasibility of the system and discuss its applicability to long-term payload transportation systems.
UR - http://www.scopus.com/inward/record.url?scp=85062992581&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062992581&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8594082
DO - 10.1109/IROS.2018.8594082
M3 - Conference contribution
AN - SCOPUS:85062992581
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4700
EP - 4707
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -