TY - GEN
T1 - Autonomous Navigation of Quadrotors Using Tactile Feedback
AU - Borkar, N.
AU - Krishnamurthy, P.
AU - Tzes, A.
AU - Khorrami, F.
N1 - Funding Information:
This work is supported in part by the NYUAD Center for Artificial Intelligence and Robotics (CAIR), funded by Tamkeen under the NYUAD Research Institute Award CG010.
Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, we present a novel approach for autonomous navigation of quadrotors in complex unknown environments using tactile feedback. The approach uses an array of force/contact sensors on the quadrotor to determine local obstacle geometry and follow contours of sensed objects. The approach is particularly useful in scenarios where visibility is limited, such as in dark or smoky/foggy conditions, in which vision-based navigation is not possible. To show the efficacy of the proposed approach, we perform simulation studies in a variety of environments and demonstrate that the quadrotor is able to autonomously navigate without any a priori knowledge of the environment and without relying upon any vision-aided sensing of the environment.
AB - In this paper, we present a novel approach for autonomous navigation of quadrotors in complex unknown environments using tactile feedback. The approach uses an array of force/contact sensors on the quadrotor to determine local obstacle geometry and follow contours of sensed objects. The approach is particularly useful in scenarios where visibility is limited, such as in dark or smoky/foggy conditions, in which vision-based navigation is not possible. To show the efficacy of the proposed approach, we perform simulation studies in a variety of environments and demonstrate that the quadrotor is able to autonomously navigate without any a priori knowledge of the environment and without relying upon any vision-aided sensing of the environment.
KW - Autonomous navigation
KW - force/con-tact sensors
KW - quadrotor
KW - unknown environments
UR - http://www.scopus.com/inward/record.url?scp=85161330990&partnerID=8YFLogxK
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U2 - 10.1109/ICARA56516.2023.10125600
DO - 10.1109/ICARA56516.2023.10125600
M3 - Conference contribution
AN - SCOPUS:85161330990
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 70
EP - 74
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -