We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent advancements in visual-inertial state estimation and teleoperation. Our teleoperation framework maps user inputs onto smooth and dynamically feasible motion primitives. Collision-free trajectories are ensured by querying a locally consistent map that is incrementally constructed from forward-facing depth observations. Our system enables a non-expert operator to safely navigate a multirotor around obstacles at speeds of 10 m/s. We achieve autonomous flights at speeds exceeding 12 m/s and accelerations exceeding 12 m/s in a series of outdoor field experiments that validate our approach.
CITATION STYLE
Spitzer, A., Yang, X., Yao, J., Dhawale, A., Goel, K., Dabhi, M., … Michael, N. (2020). Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor. In Springer Proceedings in Advanced Robotics (Vol. 11, pp. 524–535). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-33950-0_45
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