18 research outputs found
Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments
We tackle the problem of planning a minimum-time trajectory for a quadrotor
over a sequence of specified waypoints in the presence of obstacles while
exploiting the full quadrotor dynamics. This problem is crucial for autonomous
search and rescue and drone racing scenarios but was, so far, unaddressed by
the robotics community \emph{in its entirety} due to the challenges of
minimizing time in the presence of the non-convex constraints posed by
collision avoidance. Early works relied on simplified dynamics or polynomial
trajectory representations that did not exploit the full actuator potential of
a quadrotor and, thus, did not aim at minimizing time. We address this
challenging problem by using a hierarchical, sampling-based method with an
incrementally more complex quadrotor model. Our method first finds paths in
different topologies to guide subsequent trajectory search for a kinodynamic
point-mass model. Then, it uses an asymptotically-optimal, kinodynamic
sampling-based method based on a full quadrotor model on top of the point-mass
solution to find a feasible trajectory with a time-optimal objective. The
proposed method is shown to outperform all related baselines in cluttered
environments and is further validated in real-world flights at over 60km/h in
one of the world's largest motion capture systems. We release the code open
source.Comment: Accepted in IEEE Robotics and Automation Letter
CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments
In this paper, we propose a new method called Clustering Topological PRM
(CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered
environments. Finding such distinct paths, e.g., going around an obstacle from
a different side, is useful in many applications. Among others, using multiple
distinct paths is necessary for optimization-based trajectory planners where
found trajectories are restricted to only a single homotopy class of a given
path. Distinct paths can also be used to guide sampling-based motion planning
and thus increase the effectiveness of planning in environments with narrow
passages. Graph-based representation called roadmap is a common representation
for path planning and also for finding multiple distinct paths. However,
challenging environments with multiple narrow passages require a densely
sampled roadmap to capture the connectivity of the environment. Searching such
a dense roadmap for multiple paths is computationally too expensive. Therefore,
the majority of existing methods construct only a sparse roadmap which,
however, struggles to find all distinct paths in challenging environments. To
this end, we propose the CTopPRM which creates a sparse graph by clustering an
initially sampled dense roadmap. Such a reduced roadmap allows fast
identification of homotopically distinct paths captured in the dense roadmap.
We show, that compared to the existing methods the CTopPRM improves the
probability of finding all distinct paths by almost 20% in tested environments,
during same run-time. The source code of our method is released as an
open-source package.Comment: in IEEE Robotics and Automation Letter
Learning Minimum-Time Flight in Cluttered Environments
We tackle the problem of minimum-time flight for a quadrotor through a
sequence of waypoints in the presence of obstacles while exploiting the full
quadrotor dynamics. Early works relied on simplified dynamics or polynomial
trajectory representations that did not exploit the full actuator potential of
the quadrotor, and, thus, resulted in suboptimal solutions. Recent works can
plan minimum-time trajectories; yet, the trajectories are executed with control
methods that do not account for obstacles. Thus, a successful execution of such
trajectories is prone to errors due to model mismatch and in-flight
disturbances. To this end, we leverage deep reinforcement learning and
classical topological path planning to train robust neural-network controllers
for minimum-time quadrotor flight in cluttered environments. The resulting
neural network controller demonstrates significantly better performance of up
to 19% over state-of-the-art methods. More importantly, the learned policy
solves the planning and control problem simultaneously online to account for
disturbances, thus achieving much higher robustness. As such, the presented
method achieves 100% success rate of flying minimum-time policies without
collision, while traditional planning and control approaches achieve only 40%.
The proposed method is validated in both simulation and the real world
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation
system for supporting replicable research through realistic simulations and
real-world experiments. We propose a unique multi-frame localization paradigm
for estimating the states of a UAV in various frames of reference using
multiple sensors simultaneously. The system enables complex missions in GNSS
and GNSS-denied environments, including outdoor-indoor transitions and the
execution of redundant estimators for backing up unreliable localization
sources. Two feedback control designs are presented: one for precise and
aggressive maneuvers, and the other for stable and smooth flight with a noisy
state estimate. The proposed control and estimation pipeline are constructed
without using the Euler/Tait-Bryan angle representation of orientation in 3D.
Instead, we rely on rotation matrices and a novel heading-based convention to
represent the one free rotational degree-of-freedom in 3D of a standard
multirotor helicopter. We provide an actively maintained and well-documented
open-source implementation, including realistic simulation of UAV, sensors, and
localization systems. The proposed system is the product of years of applied
research on multi-robot systems, aerial swarms, aerial manipulation, motion
planning, and remote sensing. All our results have been supported by real-world
system deployment that shaped the system into the form presented here. In
addition, the system was utilized during the participation of our team from the
CTU in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions,
and also in the DARPA SubT challenge. Each time, our team was able to secure
top places among the best competitors from all over the world. On each
occasion, the challenges has motivated the team to improve the system and to
gain a great amount of high-quality experience within tight deadlines.Comment: 28 pages, 20 figures, submitted to Journal of Intelligent & Robotic
Systems (JINT), for the provided open-source software see
http://github.com/ctu-mr
Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural networkâbased controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)âaccelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural networkâbased controllers. Our demonstrators include trajectory tracking at up to 5g and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research
One-year outcomes after transcatheter insertion of an interatrial shunt device for the management of heart failure with preserved ejection fraction
BackgroundâHeart failure with preserved ejection fraction has a complex pathophysiology and remains a therapeutic challenge. Elevated left atrial pressure, particularly during exercise, is a key contributor to morbidity and mortality. Preliminary analyses have demonstrated that a novel interatrial septal shunt device that allows shunting to reduce the left atrial pressure provides clinical and hemodynamic benefit at 6 months. Given the chronicity of heart failure with preserved ejection fraction, evidence of longer-term benefit is required.
Methods and ResultsâPatients (n=64) with left ventricular ejection fraction â„40%, New York Heart Association class IIâIV, elevated pulmonary capillary wedge pressure (â„15 mmâHg at rest or â„25 mmâHg during supine bicycle exercise) participated in the open-label study of the interatrial septal shunt device. One year after interatrial septal shunt device implantation, there were sustained improvements in New York Heart Association class (P<0.001), quality of life (Minnesota Living with Heart Failure score, P<0.001), and 6-minute walk distance (P<0.01). Echocardiography showed a small, stable reduction in left ventricular end-diastolic volume index (P<0.001), with a concomitant small stable increase in the right ventricular end-diastolic volume index (P<0.001). Invasive hemodynamic studies performed in a subset of patients demonstrated a sustained reduction in the workload corrected exercise pulmonary capillary wedge pressure (P<0.01). Survival at 1 year was 95%, and there was no evidence of device-related complications.
ConclusionsâThese results provide evidence of safety and sustained clinical benefit in heart failure with preserved ejection fraction patients 1 year after interatrial septal shunt device implantation. Randomized, blinded studies are underway to confirm these observations
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV)
platform called the Multi-robot Systems (MRS) Drone that can be used in a large
range of indoor and outdoor applications. The MRS Drone features unique
modularity with respect to changes in actuators, frames, and sensory
configuration. As the name suggests, the platform is specially tailored for
deployment within a MRS group. The MRS Drone contributes to the
state-of-the-art of UAV platforms by allowing smooth real-world deployment of
multiple aerial robots, as well as by outperforming other platforms with its
modularity. For real-world multi-robot deployment in various applications, the
platform is easy to both assemble and modify. Moreover, it is accompanied by a
realistic simulator to enable safe pre-flight testing and a smooth transition
to complex real-world experiments. In this manuscript, we present mechanical
and electrical designs, software architecture, and technical specifications to
build a fully autonomous multi UAV system. Finally, we demonstrate the full
capabilities and the unique modularity of the MRS Drone in various real-world
applications that required a diverse range of platform configurations.Comment: 49 pages, 39 figures, accepted for publication to the Journal of
Intelligent & Robotic System
Utilizing longitudinal data in assessing allâcause mortality in patients hospitalized with heart failure
Abstract Aims Risk stratification in patients with a new onset or worsened heart failure (HF) is essential for clinical decision making. We have utilized a novel approach to enrich patient level prognostication using longitudinally gathered data to develop MLâbased algorithms predicting allâcause 30, 90, 180, 360, and 720Â day mortality. Methods and results In a cohort of 2449 HF patients hospitalized between 1 January 2011 and 31 December 2017, we utilized 422 parameters derived from 151Â 451 patient exams. They included clinical phenotyping, ECG, laboratory, echocardiography, catheterization data or percutaneous and surgical interventions reflecting the standard of care as captured in individual electronic records. The development of predictive models consisted of 101 iterations of repeated random subsampling splits into balanced training and validation sets. ML models yielded area under the receiver operating characteristic curve (AUCâROC) performance ranging from 0.83 to 0.89 on the outcomeâbalanced validation set in predicting allâcause mortality at aforementioned timeâlimits. The 1Â year mortality prediction model recorded an AUC of 0.85. We observed stable model performance across all HF phenotypes: HFpEF 0.83 AUC, HFmrEF 0.85 AUC, and HFrEF 0.86 AUC, respectively. Model performance improved when utilizing data from more hospital contacts compared with only data collected at baseline. Conclusions Our findings present a novel, patientâlevel, comprehensive MLâbased algorithm for predicting allâcause mortality in new or worsened heart failure. Its robust performance across phenotypes throughout the longitudinal patient followâup suggests its potential in pointâofâcare clinical risk stratification