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Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance methods that g
We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Unlike previous works, our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, allowing
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a discrete safe con
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm design to en
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In this pape