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

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

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 multi-rotor 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.

People

John Yao
PhD, 2020. Now at Shield AI.
Aditya Dhawale
M.S., 2020. Now at Shield AI.
Mosam Dabhi
Research Assistant, 2019. Now a PhD student with Simon Lucey.
Matthew Collins
M.S., 2019. Now at Near Earth Autonomy.
Curtis Boirum
Engineer, 2020. Now at KEF Robotics.

Robots

Acerodon
Acerodon