86 research outputs found
PAMPC: Perception-Aware Model Predictive Control for Quadrotors
We present the first perception-aware model predictive control framework for
quadrotors that unifies control and planning with respect to action and
perception objectives. Our framework leverages numerical optimization to
compute trajectories that satisfy the system dynamics and require control
inputs within the limits of the platform. Simultaneously, it optimizes
perception objectives for robust and reliable sens- ing by maximizing the
visibility of a point of interest and minimizing its velocity in the image
plane. Considering both perception and action objectives for motion planning
and control is challenging due to the possible conflicts arising from their
respective requirements. For example, for a quadrotor to track a reference
trajectory, it needs to rotate to align its thrust with the direction of the
desired acceleration. However, the perception objective might require to
minimize such rotation to maximize the visibility of a point of interest. A
model-based optimization framework, able to consider both perception and action
objectives and couple them through the system dynamics, is therefore necessary.
Our perception-aware model predictive control framework works in a
receding-horizon fashion by iteratively solving a non-linear optimization
problem. It is capable of running in real-time, fully onboard our lightweight,
small-scale quadrotor using a low-power ARM computer, to- gether with a
visual-inertial odometry pipeline. We validate our approach in experiments
demonstrating (I) the contradiction between perception and action objectives,
and (II) improved behavior in extremely challenging lighting conditions
Multi-robot task assignment for aerial tracking with viewpoint constraints
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a visibility heuristic to predict good times for capturing each shot and uses an Integer Linear Program to compute drone assignments. An online Model Predictive Control algorithm uses the assignments as reference to capture the shots. The algorithm is validated in hardware with a pair of drones and a remote controlled car.https://www.autonomousrobots.nl/docs/21-ray-iros.pdfAccepted manuscrip
Aerial multi-camera robotic jib crane
A formulation based on a team of unmanned aerial vehicles operating as a fully articulated multi-camera jib crane is proposed for the application of aerial cinematography. An optimization-based controller commands the formation to follow an artistic trajectory defined by the director of photography, while actively avoiding collisions and cameras' mutual visibility. The proposed scheme, based on the cluster-space formulation, presents an intuitive way of maneuvering the virtual camera fixture while automatically adjusting the motions by imposing artistic and safety constraints, facilitating the operator task.Fil: Moreno, Patricio. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina. Universidad de Buenos Aires. Facultad de IngenierÃa. Departamento de Electronica; ArgentinaFil: Presenza, Juan Francisco. Universidad de Buenos Aires. Facultad de IngenierÃa. Departamento de Electronica; ArgentinaFil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones CientÃficas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; ArgentinaFil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de IngenierÃa. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones CientÃficas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentin
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