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

@inproceedings{Spitzer2018FastAA,
  title={Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor},
  author={Alex Spitzer and Xuning Yang and John Yao and Aditya Dhawale and Kshitij Goel and Mosam Dabhi and Matt Collins and Curtis Boirum and Nathan Michael},
  booktitle={ISER},
  year={2018}
}
  • Alex Spitzer, Xuning Yang, +6 authors Nathan Michael
  • Published in ISER 2018
  • Computer Science, Engineering
  • 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… CONTINUE READING

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