Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT7 Vega Wednesday, October 10, 2012, 16:15–17:30
Motion Planning for Aerial Robotics
Chair Paolo Robuffo Giordano, Max Planck Inst. for Biological Cybernetics
Co-Chair
16:15–16:30 WedFT7.1
Cooperative Quadrocopter Ball Throwing and
Catching
Robin Ritz, Mark W. Müller,
Markus Hehn and Raffaello D’Andrea
Institute of Dynamic Systems and Control, ETH Zurich, Switzerland
• Method to throw and catch balls
using a net attached to a fleet of
quadrocopters.
• Dynamics and nominal inputs for
all attached vehicles are derived.
• Nonlinear trajectory generation
for catching and throwing,
respectively, is introduced.
• Experimental results show validity
of presented methods.
Three quadrocopters throwing a ball
16:45–17:00 WedFT7.3
Aerial Grasping of a Moving Target with a
Quadrotor UAV
Riccardo, Spica 1 , Antonio Franchi 1 , Giuseppe Oriolo 2
Heinrich H. Bülthoff 1,3 , and Paolo Robuffo Giordano 1
1 Max Plank Institute for Biological Cybernetics, Germany
2 Università di Roma La Sapienza, Italy
3 Department of Brain and Cognitive Engineering, Korea University, Korea
• Complete physical model in 6D
(position/orientation)
• Canonical maneuvers for a generic
grasping (also non-hovering) taking
into account the finite time needed
for closing the gripper
• Time-optimal concatenation of
canonical maneuvers with spline
trajectories under limited actuation
for the UAV
• Illustration of multiple
pick&place operations
Validation in a physically realistic
simulation scenario
17:15–17:30 WedFT7.5
A New Utility Function for Smooth Transition
Between Exploration and Exploitation of a Wind
Energy Field
Jen Jen Chung and Salah Sukkarieh
Australian Centre for Field Robotics, The University of Sydney, Australia
Miguel Angel Trujillo Soto
Centre for Advanced Aerospace Technologies, Spain
• Long endurance autonomous flight
requires real-time energy capture.
• In an unknown wind field this becomes an
exploration-exploitation problem.
• Our proposed utility function provides a
continuous scale between exploration and
exploitation.
• Flight tests show a 47.7% reduction in
loitering time compared to a pure
information gain approach.
The agent, Quad1, performs
energy capture by circling above
the energy source, Quad 2.
16:30–16:45 WedFT7.2
Real-Time Trajectory Generation
for Interception Maneuvers with Quadrocopters
Markus Hehn and Raffaello D’Andrea
Institute for Dynamic Systems and Control, ETH Zurich, Switzerland
• Optimality conditions for the interception maneuver that
minimizes the time to rest after interception
• Optimal interception maneuver is identical to timeoptimal
maneuver to the position at which vehicle comes
to rest after interception
• Computationally efficient
trajectory generation permits
use as implicit feedback law
• Experimental validation by
intercepting balls mid-flight
17:00–17:15 WedFT7.4
Visual Tracking and Following of a
Quadrocopter by another Quadrocopter
Karl E. Wenzel, Andreas Masselli and Andreas Zell
Chair of Cognitive System, University of Tübingen, Germany
• Two autonomous quadrocopters of
different types and configurations
• Parrot AR.Drone as leader,
controlled by an iPad
• AscTec Hummingbird as follower,
with low-cost
onboard hardware
• Our efficient solution of
the perspective-3-point
problem estimating 6DOF
on a microcontroller
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–176–
Leader (right) and follower (left) at a
desired relative position of 2m