TY - GEN
T1 - Planning and control of aggressive maneuvers for perching on inclined and vertical surfaces
AU - Thomas, Justin
AU - Loianno, Giuseppe
AU - Pope, Morgan
AU - Hawkes, Elliot W.
AU - Estrada, Matthew A.
AU - Jiang, Hao
AU - Cutkosky, Mark R.
AU - Kumar, Vijay
N1 - Funding Information:
We gratefully acknowledge support by ARL grant W911NF-08-2-0004, ONR grants N00014-07-1-0829, N00014-14-1-0510, N00014-09-1-1051, N00014-09-1-103, and NSF grants IIP-1113830, IIS-1426840, and IIS-1138847.
Publisher Copyright:
Copyright © 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.
AB - It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.
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U2 - 10.1115/DETC2015-47710
DO - 10.1115/DETC2015-47710
M3 - Conference contribution
AN - SCOPUS:84978975908
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 39th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -