Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU

Giuseppe Loianno, Chris Brunner, Gary McGrath, Vijay Kumar

Research output: Contribution to journalArticle

Abstract

We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.

Original languageEnglish (US)
Article number7762111
Pages (from-to)404-411
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume2
Issue number2
DOIs
StatePublished - Apr 1 2017

Fingerprint

Units of measurement
State Estimation
State estimation
Camera
Cameras
Planning
Unit
Excursion
Smartphones
Robust Estimation
Trajectories
Hardware
Trajectory
Angle
Three-dimensional
Path
Experimental Results

Keywords

  • Aerial robotics
  • optimization and optimal control
  • 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

Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU. / Loianno, Giuseppe; Brunner, Chris; McGrath, Gary; Kumar, Vijay.

In: IEEE Robotics and Automation Letters, Vol. 2, No. 2, 7762111, 01.04.2017, p. 404-411.

Research output: Contribution to journalArticle

Loianno, Giuseppe ; Brunner, Chris ; McGrath, Gary ; Kumar, Vijay. / Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU. In: IEEE Robotics and Automation Letters. 2017 ; Vol. 2, No. 2. pp. 404-411.
@article{2f96360a873d48c98ad8468feae66c6b,
title = "Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU",
abstract = "We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.",
keywords = "Aerial robotics, optimization and optimal control, sensor-based control",
author = "Giuseppe Loianno and Chris Brunner and Gary McGrath and Vijay Kumar",
year = "2017",
month = "4",
day = "1",
doi = "10.1109/LRA.2016.2633290",
language = "English (US)",
volume = "2",
pages = "404--411",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU

AU - Loianno, Giuseppe

AU - Brunner, Chris

AU - McGrath, Gary

AU - Kumar, Vijay

PY - 2017/4/1

Y1 - 2017/4/1

N2 - We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.

AB - We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.

KW - Aerial robotics

KW - optimization and optimal control

KW - sensor-based control

UR - http://www.scopus.com/inward/record.url?scp=85027992286&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85027992286&partnerID=8YFLogxK

U2 - 10.1109/LRA.2016.2633290

DO - 10.1109/LRA.2016.2633290

M3 - Article

VL - 2

SP - 404

EP - 411

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 2

M1 - 7762111

ER -