ICRA 2011 Paper Abstract

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Paper WeAV115.3

Mellinger, Daniel (University of Pennsylvania), Michael, Nathan (University of Pennsylvania), Shomin, Michael (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Recent Advances in Quadrotor Capabilities

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 08:36−08:44, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Aerial Robotics, Motion and Path Planning

Abstract

This video features advanced control capabilities for a quadrotor helicopter. The video shows a single quadrotor flying through windows with only three inches of clearance on any side of the platform and perching on vertical, declined, and inclined walls. Robustness to failed perching is demonstrated when it recovers to a stable hover from a failed perching attempt. Next, the video shows control along optimal trajectories through desired waypoints which includes flying through the static and thrown hoops. Seen next is a gripper designed for the quadrotor to pickup objects and perch on horizontal surfaces. Finally, multiple quadrotors are shown cooperatively manipulating payloads to which they are rigidly attached.

 

 

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