Aggressive flight with quadrotors for perching on inclined surfaces

Justin Thomas, Morgan Pope, Giuseppe Loianno, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky, Vijay Kumar

Research output: Contribution to journalArticle

Abstract

Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays and quadrotors for monitoring or sampling. Thus, it is important to enable micro-aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors. We are motivated to use a downward-facing gripper for perching, as opposed to a side-mounted gripper, since it could also be used to carry payloads. In this paper, we predict and verify the performance of a custom gripper designed for perching on smooth surfaces. We also present control and planning algorithms, enabling an underactuated quadrotor with a downward-facing gripper to perch on inclined surfaces while satisfying constraints on actuation and sensing. Experimental results demonstrate the proposed techniques through successful perching on a glass surface at various inclinations, including vertical.

Original languageEnglish (US)
Article number051007
JournalJournal of Mechanisms and Robotics
Volume8
Issue number5
DOIs
StatePublished - Oct 1 2016

Fingerprint

Grippers
Facings
Antennas
Disasters
Sampling
Planning
Recovery
Glass
Monitoring

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Thomas, J., Pope, M., Loianno, G., Hawkes, E. W., Estrada, M. A., Jiang, H., ... Kumar, V. (2016). Aggressive flight with quadrotors for perching on inclined surfaces. Journal of Mechanisms and Robotics, 8(5), [051007]. https://doi.org/10.1115/1.4032250

Aggressive flight with quadrotors for perching on inclined surfaces. / Thomas, Justin; Pope, Morgan; Loianno, Giuseppe; Hawkes, Elliot W.; Estrada, Matthew A.; Jiang, Hao; Cutkosky, Mark R.; Kumar, Vijay.

In: Journal of Mechanisms and Robotics, Vol. 8, No. 5, 051007, 01.10.2016.

Research output: Contribution to journalArticle

Thomas, J, Pope, M, Loianno, G, Hawkes, EW, Estrada, MA, Jiang, H, Cutkosky, MR & Kumar, V 2016, 'Aggressive flight with quadrotors for perching on inclined surfaces', Journal of Mechanisms and Robotics, vol. 8, no. 5, 051007. https://doi.org/10.1115/1.4032250
Thomas J, Pope M, Loianno G, Hawkes EW, Estrada MA, Jiang H et al. Aggressive flight with quadrotors for perching on inclined surfaces. Journal of Mechanisms and Robotics. 2016 Oct 1;8(5). 051007. https://doi.org/10.1115/1.4032250
Thomas, Justin ; Pope, Morgan ; Loianno, Giuseppe ; Hawkes, Elliot W. ; Estrada, Matthew A. ; Jiang, Hao ; Cutkosky, Mark R. ; Kumar, Vijay. / Aggressive flight with quadrotors for perching on inclined surfaces. In: Journal of Mechanisms and Robotics. 2016 ; Vol. 8, No. 5.
@article{1fb6eaa2d33d4bac8995091c531f637c,
title = "Aggressive flight with quadrotors for perching on inclined surfaces",
abstract = "Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays and quadrotors for monitoring or sampling. Thus, it is important to enable micro-aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors. We are motivated to use a downward-facing gripper for perching, as opposed to a side-mounted gripper, since it could also be used to carry payloads. In this paper, we predict and verify the performance of a custom gripper designed for perching on smooth surfaces. We also present control and planning algorithms, enabling an underactuated quadrotor with a downward-facing gripper to perch on inclined surfaces while satisfying constraints on actuation and sensing. Experimental results demonstrate the proposed techniques through successful perching on a glass surface at various inclinations, including vertical.",
author = "Justin Thomas and Morgan Pope and Giuseppe Loianno and Hawkes, {Elliot W.} and Estrada, {Matthew A.} and Hao Jiang and Cutkosky, {Mark R.} and Vijay Kumar",
year = "2016",
month = "10",
day = "1",
doi = "10.1115/1.4032250",
language = "English (US)",
volume = "8",
journal = "Journal of Mechanisms and Robotics",
issn = "1942-4302",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "5",

}

TY - JOUR

T1 - Aggressive flight with quadrotors for perching on inclined surfaces

AU - Thomas, Justin

AU - Pope, Morgan

AU - Loianno, Giuseppe

AU - Hawkes, Elliot W.

AU - Estrada, Matthew A.

AU - Jiang, Hao

AU - Cutkosky, Mark R.

AU - Kumar, Vijay

PY - 2016/10/1

Y1 - 2016/10/1

N2 - Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays and quadrotors for monitoring or sampling. Thus, it is important to enable micro-aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors. We are motivated to use a downward-facing gripper for perching, as opposed to a side-mounted gripper, since it could also be used to carry payloads. In this paper, we predict and verify the performance of a custom gripper designed for perching on smooth surfaces. We also present control and planning algorithms, enabling an underactuated quadrotor with a downward-facing gripper to perch on inclined surfaces while satisfying constraints on actuation and sensing. Experimental results demonstrate the proposed techniques through successful perching on a glass surface at various inclinations, including vertical.

AB - Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays and quadrotors for monitoring or sampling. Thus, it is important to enable micro-aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors. We are motivated to use a downward-facing gripper for perching, as opposed to a side-mounted gripper, since it could also be used to carry payloads. In this paper, we predict and verify the performance of a custom gripper designed for perching on smooth surfaces. We also present control and planning algorithms, enabling an underactuated quadrotor with a downward-facing gripper to perch on inclined surfaces while satisfying constraints on actuation and sensing. Experimental results demonstrate the proposed techniques through successful perching on a glass surface at various inclinations, including vertical.

UR - http://www.scopus.com/inward/record.url?scp=84973522990&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973522990&partnerID=8YFLogxK

U2 - 10.1115/1.4032250

DO - 10.1115/1.4032250

M3 - Article

VL - 8

JO - Journal of Mechanisms and Robotics

JF - Journal of Mechanisms and Robotics

SN - 1942-4302

IS - 5

M1 - 051007

ER -