Collision Recovery Control of a Foldable Quadrotor

Patnaik, Karishma; Mishra, Shatadal; Chase, Zachary; Zhang, Wenlong

doi:10.1109/aim46487.2021.9517341

Cited by 10 publications

(6 citation statements)

References 13 publications

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“…Compliance has also been included into the robot chassis to reduce impact. Chen et al [14] developed a collision-resilient insect-scale compliant flapping-wing robot, while Patnaik et al [7] introduced a collision-resilient MAV with foldable arms. Soft aerial robots were developed for physical interactions [15,16].…”

Section: Related Work a Impact-resilient Compliant Mavsmentioning

confidence: 99%

“…Collision risks get significantly higher for autonomous missions in these complex environments. Compliant resilient robots attract growing attention due to the merits of reducing impact and protecting onboard sensors [7]. Taking advantage of impact resilience, research efforts on collision-inclusive motion planning have started to be proposed [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

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Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Liu

Campbell

et al. 2023

IEEE Trans. Robot.

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The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle collisions while performing aggressive maneuvers and stabilize from highspeed wall collisions. Further, a new collision-inclusive planning method that aims to prioritize contacts to facilitate aerial robot navigation in cluttered environments is proposed. A range of simulated and physical experiments demonstrate key benefits of the robot and the contact-prioritized (CP) planner. Experimental results show that the compliant robot has only a 4% weight increase but around 40% impact reduction in drop tests and wall collision tests. s-ARQ can handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions at 3.0 m/s with a success rate of 100%. Our proposed compliant robot and contact-prioritized planning method can accelerate computation time while having shorter trajectory time and larger clearances compared to A * and RRT * planners with velocity constraints. Online planning tests in partially-known environments further demonstrate the preliminary feasibility of our method to apply in practical use cases.

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Section: Related Work a Impact-resilient Compliant Mavsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Liu

Campbell

et al. 2023

IEEE Trans. Robot.

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“…In addition, a linear quadratic regulator (LQR) was used to control it in flight. Patnaik et al 5 have proposed a special design of a reconfigurable Unmanned Aerial Vehicle (UAV) to support the collisions in flight, where a Proportional Integral Derivative (PID) controller was exploited for attitude stabilization. In the research study, 6 a cascade Integral Derivative (PD) was used to deal with the uncertainties problem of a quadcopter UAV.…”

Section: Related Workmentioning

confidence: 99%

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Derrouaoui

Bouzid

Guiatni

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents the control of a quadrotor capable of changing its configuration while flying. The designed controller should handle several arising issues since the drone geometric parameters are varying over time. This variation has a great influence on the quadrotor control, which prompts us to propose an efficient nonlinear adaptive integral backstepping controller. The control architecture includes an estimator of the inertia and other specific blocks to calculate the center of gravity and the mixing matrix. The performance of the proposed control approach has been compared with the conventional integral backstepping controller in two cases, with and without disturbances. The obtained results of the inertias and the center of gravity are also compared and confirmed with those calculated using Computer-Assisted Design–based model.

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“…Autonomous missions in these complex environments, particularly at high speeds, significantly increase the risk of collisions. To mitigate the risk, multiple impact-resilient vehicles [2], [6]- [8] have been developed, with applications to collision-inclusive navigation [9]- [13].…”

Section: Introductionmentioning

confidence: 99%

“…To address this challenge, novel MAV designs have been proposed that integrate compliance into the airframe to reduce the impact. Examples of compliant MAV designs include those with purely soft frames [22]- [24], icosahedron tensegrity structures [7], external compliant flaps [2], and foldable arms with passive springs [6], [8], [25]. These works have demonstrated the efficacy of compliant MAVs in reducing effects of impact and helping survive collisions.…”

Section: Introductionmentioning

confidence: 99%

Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions

Liu

Karydis

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact on sensitive onboard devices, resilient MAVs with mechanical protective cages and reinforced frames are commonly used. However, compliant and impact-resilient MAVs offer a promising alternative by reducing the potential damage caused by impacts. In this study, we present novel findings on the impact-resilient capabilities of MAVs equipped with passive springs in their compliant arms. We analyze the effect of compliance through dynamic modeling and demonstrate that the inclusion of passive springs enhances impact resilience. The impact resilience is extensively tested to stabilize the MAV following wall collisions under high-speed and large-angle conditions. Additionally, we provide comprehensive comparisons with rigid MAVs to better determine the tradeoffs in flight by embedding compliance onto the robot's frame.

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Collision Recovery Control of a Foldable Quadrotor

Cited by 10 publications

References 13 publications

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions

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