Tactile-based Exploration, Mapping and Navigation with Collision-Resilient Aerial Vehicles (2305.17217v6)

Abstract: This article introduces XPLORER, a passive deformable UAV with a spring-augmented chassis and proprioceptive state awareness, designed to endure collisions and maintain smooth contact. We develop a fast-converging external force estimation algorithm for XPLORER that leverages onboard sensors and proprioceptive data for contact and collision detection. Using this force information, we propose four motion primitives, including three novel tactile-based primitives: tactile-traversal, tactile-turning, and ricocheting-to aid XPLORER in navigating unknown environments. These primitives are synthesized autonomously in real-time to enable efficient exploration and navigation by leveraging collisions and contacts. Experimental results demonstrate the effectiveness of our approach, highlighting the potential of passive deformable UAVs for contact-rich real-world tasks such as non-destructive inspection, surveillance and mapping, and pursuit/evasion.

• The paper introduces novel tactile-based motion primitives for collision-resilient aerial vehicles (UAVs), enabling them to leverage physical contact for exploration and navigation.
• The approach uses a passive deformable UAV (XPLORER) with a spring-augmented chassis, enhanced force estimation, and specific reaction controllers to manage contact and collision scenarios effectively.
• This research significantly impacts UAV operations in cluttered environments like search and rescue or industrial inspection, demonstrating how contact-based interaction improves mapping and navigation accuracy.

Tactile-based Exploration, Mapping, and Navigation with Collision-Resilient Aerial Vehicles

The paper "Tactile-based Exploration, Mapping and Navigation with Collision-Resilient Aerial Vehicles" presents a paper on the development and implementation of tactile-based motion primitives for unmanned aerial vehicles (UAVs), focusing on a novel approach to facilitate exploration, mapping, and navigation in challenging environments. The authors introduce innovative methods that exploit collisions and physical contacts, allowing UAVs to perform autonomous tasks, despite the inherent uncertainties of unknown environments.

Key Contributions

The authors propose three new tactile-based motion primitives: "tactile-traversal," "tactile-turning," and "ricocheting." These primitives highlight a different approach from conventional UAV operations, given their reliance on contact-rich interactions. Unlike traditional UAVs that avoid collisions, the proposed system employs a passive deformable UAV, XPLORER, which is designed to handle collisions by utilizing a spring-augmented chassis. This design enables the UAV to sustain contact and absorb collision forces effectively.

The research introduces an enhanced external force estimation algorithm that quickly identifies contact and collision scenarios, crucial for the effective utilization of the new motion primitives. The paper further elaborates on three distinct reaction controllers aimed at static-wrench application, disturbance rejection, and collision recovery, which guide the UAV's interactions in varying conditions.

Methodology and Experiments

The paper provides a comprehensive methodology for the implementation of these motion primitives, emphasizing the benefits of passive morphing in UAVs. Experimental setups demonstrate how the tactile-based primitives allow the UAV to explore and navigate environments with unknown obstacles efficiently. The mapping capability of the UAV is enhanced by leveraging the contacts made during exploration, which contributes to the generation of accurate environmental maps.

One notable aspect is the development of a novel ricocheting primitive, which introduces an innovative maneuver for UAV path planning. This allows the UAV to utilize the energy dissipation from collisions to achieve quick trajectory adjustments, which can be advantageous for rapid navigation tasks.

Implications and Future Directions

The implications of this research are significant for UAV operations in cluttered and obstructed environments, such as search and rescue missions or industrial inspections where visual data might be limited. The contact-based exploration and mapping contribute to a deeper understanding of physical interactions in robotic applications, highlighting the potential of mechanical intelligence combined with passive reconfigurability.

Looking forward, the research opens avenues for further investigation into more advanced tactile-based control algorithms and real-time decision-making processes in UAVs. Improvements in force estimation and contact localization could significantly enhance the robustness and accuracy of the proposed framework. Additionally, the integration of onboard sensors and the development of faster planning algorithms remain vital areas for future research to expand the applicability of these tactile-based motion primitives in dynamic real-world settings.

In summary, by addressing the challenges of collision and contact in UAV operations, this work advances the state-of-the-art in tactile-based robotic exploration, posing intriguing questions for future exploration and development in aerial vehicle navigation technologies.