Cooperative transportation using small quadrotors using monocular vision and inertial sensing

Giuseppe Loianno, Vijay Kumar

Research output: Contribution to journalArticle

Abstract

Micro aerial vehicles have the potential to assist humans in tasks such as manipulation and transportation for construction and humanitarian missions, beyond simply acquiring data and building maps. In this letter, we address the state estimation, control, and trajectory planning in cooperative transportation of structures, which are either too heavy or too big to be carried by small microvehicles. Specifically, we consider small quadrotors, each equipped only with a single camera and inertial measurement unit as a sensor. The key contributions are 1) a new approach to coordinated control, which allows independent control of each vehicle while guaranteeing the system's stability and 2) a new cooperative localization scheme that allows each vehicle to benefit from measurements acquired by other vehicles. The latter relies on the vehicles exploiting the inherent rigid structure information to infer additional constraints between the vehicles' poses allowing us to formulate the pose estimation problem as an optimization problem on the Lie group SE(3). The proposed approach is validated through experimental results with multiple quadrotors grasping and transporting a rigid structure.

Original languageEnglish (US)
Pages (from-to)680-687
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume3
Issue number2
DOIs
StatePublished - Apr 1 2018

Fingerprint

Monocular Vision
Sensing
Coordinated Control
Trajectory Planning
Grasping
Pose Estimation
Information Structure
State Estimation
Rigid structures
Manipulation
Camera
Optimization Problem
Sensor
Unit
Experimental Results
Lie groups
Units of measurement
State estimation
System stability
Cameras

Keywords

  • Aerial systems
  • Optimization and optimal control
  • Perception and autonomy
  • Sensor-based control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Cooperative transportation using small quadrotors using monocular vision and inertial sensing. / Loianno, Giuseppe; Kumar, Vijay.

In: IEEE Robotics and Automation Letters, Vol. 3, No. 2, 01.04.2018, p. 680-687.

Research output: Contribution to journalArticle

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