Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

Shen, Shaojie

Title: Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

Abstract

The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m/s with winds around 10 mph while entering and exiting buildings.

Inventors:: Shen, Shaojie

Issue Date:: 2020-08-04

Research Org.:: Univ. of Pennsylvania, Philadelphia, PA (United States)

Sponsoring Org.:: USDOE Office of Science (SC); US Office of Naval Research (ONR); National Science Foundation (NSF); US Air Force Office of Scientific Research (AFOSR)

OSTI Identifier:: 1735111

Patent Number(s):: 10732647

Application Number:: 15/684,700

Assignee:: The Trustees of the University of Pennsylvania (Philadelphia, PA)

DOE Contract Number:: 1138110; 113830; 1138847; FA9550-10-1-0567; N00014-07-1-0829; N00014-08-1-0696; N00014-09-1-1031; N00014-09-1-1051; W911NF-08-2-0004; W911NF-10-2-0016

Resource Type:: Patent

Resource Relation:: Patent File Date: 08/23/2017

Country of Publication:: United States

Language:: English

Citation Formats


                    Shen, Shaojie. Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV).  United States: N. p., 2020. 
        Web.

Copy to clipboard


                    Shen, Shaojie. Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV).  United States.

Copy to clipboard


                    Shen, Shaojie. Tue .  
        "Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)".  United States.  https://www.osti.gov/servlets/purl/1735111.

Copy to clipboard


                    
@article{osti_1735111,

  title        = {Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)},

  author       = {Shen, Shaojie},

  abstractNote = {The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m/s with winds around 10 mph while entering and exiting buildings.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2020},

  month        = {8}

}

Copy to clipboard

Patent:

Save / Share:

Export Metadata

Save to My Library

Works referenced in this record:

Coded aperture aided navigation and geolocation systems
patent, November 2013

Morrison, Jamie R.; Raquet, John F.; Veth, Michael J.
US Patent Document 8,577,539
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8577539

Simultaneous local and global state estimation for robotic navigation
conference, May 2009

Moore, D. C.; Huang, A. S.; Walter, M.
2009 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ROBOT.2009.5152763

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor
conference, June 2013

Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan
Robotics: Science and Systems 2013, Robotics: Science and Systems IX
https://doi.org/10.15607/RSS.2013.IX.032

Control of Ensembles of Aerial Robots
journal, September 2011

Michael, Nathan; Kumar, Vijay
Proceedings of the IEEE, Vol. 99, Issue 9
https://doi.org/10.1109/JPROC.2011.2157275

Robotic platform and method for performing multiple functions in agricultural systems
patent, February 2016

Cavender-Bares, Kent; Lofgren, Joseph B.
US Patent Document 9,265,187
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9265187

Impedance control of an aerial manipulator
conference, June 2012

Forte, Francesco; Naldi, Roberto; Macchelli, Alessandro
2012 American Control Conference - ACC 2012, 2012 American Control Conference (ACC)
https://doi.org/10.1109/ACC.2012.6315568

Receding horizon path planning with implicit safety guarantees
conference, January 2004

Schouwenaars, T.; How, J.; Feron, E.
Proceedings of the 2004 American Control Conference
https://doi.org/10.23919/ACC.2004.1384742

Visual-inertial structure from motion: Observability and resolvability
conference, November 2013

Martinelli, Agostino
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
https://doi.org/10.1109/IROS.2013.6696963

Flocking in Fixed and Switching Networks
journal, May 2007

Tanner, Herbert G.; Jadbabaie, Ali; Pappas, George J.
IEEE Transactions on Automatic Control, Vol. 52, Issue 5
https://doi.org/10.1109/TAC.2007.895948

Constrained key frame localization and mapping for vision-aided inertial navigation
patent, March 2017

Roumeliotis, Stergios I.; Nerurkar, Esha
US Patent Document 9,607,401
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9607401

Linear pose estimation from points or lines
journal, May 2003

Ansar, A.; Daniilidis, K.
IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 25, Issue 5
https://doi.org/10.1109/TPAMI.2003.1195992

SCAAT: incremental tracking with incomplete information
conference, January 1997

Welch, Greg; Bishop, Gary
Proceedings of the 24th annual conference on Computer graphics and interactive techniques - SIGGRAPH '97
https://doi.org/10.1145/258734.258876

Systems, devices, and methods for on-board sensing and control of micro aerial vehicles
patent, July 2018

Loianno, Giuseppe; Mulgaonkar, Yash Shailesh; Kumar, R. Vijay
US Patent Document 10,037,028
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/10037028

Scale Drift-Aware Large Scale Monocular SLAM
conference, June 2010

Strasdat, H.; M. M. Montiel, J.; Davison, A.
Robotics: Science and Systems 2010, Robotics: Science and Systems VI
https://doi.org/10.15607/RSS.2010.VI.010

Path planning for permutation-invariant multirobot formations
journal, August 2006

Kloder, S.; Hutchinson, S.
IEEE Transactions on Robotics, Vol. 22, Issue 4
https://doi.org/10.1109/TRO.2006.878952

Planning optimal paths for multiple robots on graphs
conference, May 2013

Yu, Jingjin; LaValle, Steven M.
2013 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2013.6631084

Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue
journal, September 2012

Tomic, Teodor; Schmid, Korbinian; Lutz, Philipp
IEEE Robotics & Automation Magazine, Vol. 19, Issue 3
https://doi.org/10.1109/MRA.2012.2206473

Fully-coupled positioning process and system thereof
patent, August 2001

Lin, Ching-Fang
US Patent Document 6,278,945
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6278945

Conflict resolution for air traffic management: a study in multiagent hybrid systems
journal, April 1998

Tomlin, C.; Pappas, G. J.; Sastry, S.
IEEE Transactions on Automatic Control, Vol. 43, Issue 4
https://doi.org/10.1109/9.664154

Autonomous control of unmanned aerial vehicles
patent, July 2014

Duggan, David S.; Felio, David A.; Pate, Billy B.
US Patent Document 8,768,555
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8768555

Accurate Non-Iterative O(n) Solution to the PnP Problem
conference, October 2007

Moreno-Noguer, Francesc; Lepetit, Vincent; Fua, Pascal
2007 IEEE 11th International Conference on Computer Vision
https://doi.org/10.1109/ICCV.2007.4409116

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments
journal, October 2011

Weiss, Stephan; Scaramuzza, Davide; Siegwart, Roland
Journal of Field Robotics, Vol. 28, Issue 6
https://doi.org/10.1002/rob.20412

Collision-avoidance device for aircraft, notably for avoiding collisions with the ground
patent, May 1995

Denoize, Xavier; Faivre, François
US Patent Document 5,414,631
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5414631

Minimum snap trajectory generation and control for quadrotors
conference, May 2011

Mellinger, Daniel; Kumar, Vijay
2011 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2011.5980409

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
journal, January 1968

Hart, Peter; Nilsson, Nils; Raphael, Bertram
IEEE Transactions on Systems Science and Cybernetics, Vol. 4, Issue 2
https://doi.org/10.1109/TSSC.1968.300136

Autonomous Flight in Unknown Indoor Environments
journal, December 2009

Bachrach, Abraham; He, Ruijie; Roy, Nicholas
International Journal of Micro Air Vehicles, Vol. 1, Issue 4
https://doi.org/10.1260/175682909790291492

Systems and methods for remotely collaborative vehicles
patent, February 2013

Beavin, William C.
US Patent Document 8,380,362
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8380362

Cooperative manipulation and transportation with aerial robots
journal, September 2010

Michael, Nathan; Fink, Jonathan; Kumar, Vijay
Autonomous Robots, Vol. 30, Issue 1
https://doi.org/10.1007/s10514-010-9205-0

Method and system for assessing damage to infrastructure
patent, September 2015

Harvey, Brian N.; Tofte, Nathan L.; Schmidgall, Roger D.
US Patent Document 9,129,355
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9129355

Method and apparatus for improved navigation of a moving platform
patent, November 2016

Georgy, Jacques; Noureldin, Aboelmagd
US Patent Document 9,488,480
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9488480

Inverse Depth Parametrization for Monocular SLAM
journal, October 2008

Civera, J.; Davison, A. J.; Montiel, J.
IEEE Transactions on Robotics, Vol. 24, Issue 5
https://doi.org/10.1109/TRO.2008.2003276

Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz
conference, April 2007

Gurdan, Daniel; Stumpf, Jan; Achtelik, Michael
Proceedings 2007 IEEE International Conference on Robotics and Automation
https://doi.org/10.1109/ROBOT.2007.363813

Sub-sampling: Real-time vision for micro air vehicles
journal, February 2012

de Croon, G. C. H. E.; De Wagter, C.; Remes, B. D. W.
Robotics and Autonomous Systems, Vol. 60, Issue 2
https://doi.org/10.1016/j.robot.2011.10.001

Real-time hierarchical GPS aided visual SLAM on urban environments
conference, May 2009

Schleicher, David; Bergasa, Luis M.; Ocana, Manuel
2009 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ROBOT.2009.5152370

The Distributed Flight Array
conference, May 2010

Oung, Raymond; Bourgault, Frédéric; Donovan, Matthew
2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
https://doi.org/10.1109/ROBOT.2010.5509882

The Open Motion Planning Library
journal, December 2012

Sucan, Ioan A.; Moll, Mark; Kavraki, Lydia E.
IEEE Robotics & Automation Magazine, Vol. 19, Issue 4
https://doi.org/10.1109/MRA.2012.2205651

Autonomous MAV flight in indoor environments using single image perspective cues
conference, May 2011

Bills, Cooper; Chen, Joyce; Saxena, Ashutosh
2011 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2011.5980136

A Fully Autonomous Indoor Quadrotor
journal, February 2012

Grzonka, Slawomir; Grisetti, Giorgio; Burgard, Wolfram
IEEE Transactions on Robotics, Vol. 28, Issue 1
https://doi.org/10.1109/TRO.2011.2162999

Interrogator And System Employing The Same
patent-application, October 2012

Scott, Hugh Logan; Roemerman, Steven D.; Volpi, John P.
US Patent Application 13/443594; 20120256730
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20120256730

Cooperative Control of Swarms of Unmanned Aerial Vehicles
conference, June 2011

de Vries, Erik; Subbarao, Kamesh
49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
https://doi.org/10.2514/6.2011-78

System and method for in-flight trajectory path synthesis using the time sampled output of onboard sensors
patent, July 2007

Flippen, Jr., Luther D.
US Patent Document 7,249,730
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7249730

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
patent, August 2015

Pillai, Unnikrishna Sreedharan; Mangiat, Alain Anthony
US Patent Document 9,104,201
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9104201

Incremental Sampling-based Algorithms for Optimal Motion Planning
conference, June 2010

Karaman, S.; Frazzoli, E.
Robotics: Science and Systems 2010, Robotics: Science and Systems VI
https://doi.org/10.15607/RSS.2010.VI.034

Parallel Tracking and Mapping on a camera phone
conference, October 2009

Klein, Georg; Murray, David
2009 8th IEEE International Symposium on Mixed and Augmented Reality (ISMAR)
https://doi.org/10.1109/ISMAR.2009.5336495

A coordination architecture for spacecraft formation control
journal, January 2001

Beard, R. W.; Lawton, J.; Hadaegh, F. Y.
IEEE Transactions on Control Systems Technology, Vol. 9, Issue 6
https://doi.org/10.1109/87.960341

A simple learning strategy for high-speed quadrocopter multi-flips
conference, May 2010

Lupashin, Sergei; Schöllig, Angela; Sherback, Michael
2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
https://doi.org/10.1109/ROBOT.2010.5509452

Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment*
journal, September 2012

Ayanian, Nora; Rus, Daniela; Kumar, Vijay
IFAC Proceedings Volumes, Vol. 45, Issue 26
https://doi.org/10.3182/20120914-2-US-4030.00029

Systems and methods for determining inertial navigation system faults
patent, February 2017

Bharadwaj, Raj Mohan; Bageshwar, Vibhor L.; Kim, Kyusung
US Patent Document 9,568,321
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9568321

Multi-vehicle path planning for non-line of sight communication
conference, January 2006

Schouwenaars, T.; Feron, E.; How, J.
2006 American Control Conference
https://doi.org/10.1109/ACC.2006.1657643

Toward image based visual servoing for aerial grasping and perching
conference, May 2014

Thomas, Justin; Loianno, Giuseppe; Sreenath, Koushil
2014 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2014.6907149

System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods
patent, July 2002

Barnes, Donald Michael
US Patent Document 6,422,508
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6422508

C apt : Concurrent assignment and planning of trajectories for multiple robots
journal, January 2014

Turpin, Matthew; Michael, Nathan; Kumar, Vijay
The International Journal of Robotics Research, Vol. 33, Issue 1
https://doi.org/10.1177/0278364913515307

Camera and inertial measurement unit integration with navigation data feedback for feature tracking
patent, March 2014

Ma, Yunqian; Hawkinson, Wesley J.
US Patent Document 8,676,498
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8676498

Pedestrian Tracking with Shoe-Mounted Inertial Sensors
journal, November 2005

Foxlin, E.
IEEE Computer Graphics and Applications, Vol. 25, Issue 6
https://doi.org/10.1109/MCG.2005.140

Stereo vision based indoor/outdoor navigation for flying robots
conference, November 2013

Schmid, Korbinian; Tomic, Teodor; Ruess, Felix
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
https://doi.org/10.1109/IROS.2013.6696922

Cooperative multi-robot localization under communication constraints
conference, May 2009

Trawny, N.; Roumeliotis, S. I.; Giannakis, G. B.
2009 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ROBOT.2009.5152606

Observability-constrained vision-aided inertial navigation
patent, January 2016

Roumeliotis, Stergios I.; Kottas, Dimitrios G.; Guo, Chao
US Patent Document 9,243,916
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9243916

Centralized path planning for multiple robots: Optimal decoupling into sequential plans
conference, June 2009

van den Berg, J.; Snoeyink, J.; Lin, M.
Robotics: Science and Systems 2009, Robotics: Science and Systems V
https://doi.org/10.15607/RSS.2009.V.018

A robust and modular multi-sensor fusion approach applied to MAV navigation
conference, November 2013

Lynen, Simon; Achtelik, Markus W.; Weiss, Stephan
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
https://doi.org/10.1109/IROS.2013.6696917

Toward Efficient Trajectory Planning: The Path-Velocity Decomposition
journal, September 1986

Kant, Kamal; Zucker, Steven W.
The International Journal of Robotics Research, Vol. 5, Issue 3
https://doi.org/10.1177/027836498600500304

Method and apparatus for rapidly turning a vehicle in a fluid medium
patent, October 2001

Schroeder, Wayne K.
US Patent Document 6,308,911
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6308911

Subdimensional expansion for multirobot path planning
journal, February 2015

Wagner, Glenn; Choset, Howie
Artificial Intelligence, Vol. 219
https://doi.org/10.1016/j.artint.2014.11.001

Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs
conference, May 2015

Shen, Shaojie; Michael, Nathan; Kumar, Vijay
2015 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2015.7139939

Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
journal, November 2010

Kelly, Jonathan; Sukhatme, Gaurav S.
The International Journal of Robotics Research, Vol. 30, Issue 1
https://doi.org/10.1177/0278364910382802

Systems, devices, and methods for robotic remote sensing for precision agriculture
patent, August 2019

Kumar, R. Vijay; Cross, Gareth Benoit; Qu, Chao
US Patent Document 10,395,115
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/10395115

Vision-based autonomous mapping and exploration using a quadrotor MAV
conference, October 2012

Fraundorfer, Friedrich; Heng, Lionel; Honegger, Dominik
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
https://doi.org/10.1109/IROS.2012.6385934

Multisensor fusion for autonomous UAV navigation based on the Unscented Kalman Filter with Sequential Measurement Updates
conference, September 2010

Oh, Seung-Min
2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), 2010 IEEE Conference on Multisensor Fusion and Integration
https://doi.org/10.1109/MFI.2010.5604461

Method and apparatus for improved navigation of a moving platform
patent, June 2014

Georgy, Jacques; Noureldin, Aboelmagd
US Patent Document 8,756,001
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8756001

Autonomous Control of Unmanned Aerial Vehicles
patent-application, October 2014

Duggan, David S.; Felio, David A.; Pate, Billy B.
US Patent Application 14/278444; 20140324253
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20140324253

Enhanced Partial Expansion A*
journal, May 2014

Goldenberg, M.; Felner, A.; Stern, R.
Journal of Artificial Intelligence Research, Vol. 50
https://doi.org/10.1613/jair.4171

Formation constrained multi-agent control
journal, January 2001

Egerstedt, M.
IEEE Transactions on Robotics and Automation, Vol. 17, Issue 6
https://doi.org/10.1109/70.976029

Parallel Tracking and Mapping for Small AR Workspaces
conference, November 2007

Klein, Georg; Murray, David
2007 6th IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
https://doi.org/10.1109/ISMAR.2007.4538852

Collaborative monocular SLAM with multiple Micro Aerial Vehicles
conference, November 2013

Forster, Christian; Lynen, Simon; Kneip, Laurent
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
https://doi.org/10.1109/IROS.2013.6696923

CoSLAM: Collaborative Visual SLAM in Dynamic Environments
journal, February 2013

Zou, Danping; Tan, Ping
IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 35, Issue 2
https://doi.org/10.1109/TPAMI.2012.104

Distinctive Image Features from Scale-Invariant Keypoints
journal, November 2004

Lowe, David G.
International Journal of Computer Vision, Vol. 60, Issue 2, p. 91-110
https://doi.org/10.1023/B:VISI.0000029664.99615.94

Collaborative mapping of an earthquake-damaged building via ground and aerial robots: Collaborative Mapping of an Earthquake-Damaged Building
journal, August 2012

Michael, Nathan; Shen, Shaojie; Mohta, Kartik
Journal of Field Robotics, Vol. 29, Issue 5
https://doi.org/10.1002/rob.21436

State estimation for highly dynamic flying systems using key frame odometry with varying time delays
conference, October 2012

Schmid, Korbinian; Ruess, Felix; Suppa, Michael
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
https://doi.org/10.1109/IROS.2012.6385969

Vision-based state estimation for autonomous rotorcraft MAVs in complex environments
conference, May 2013

Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan
2013 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2013.6630808

Navigation system applications of sigma-point Kalman filters for nonlinear estimation and sensor fusion
patent, October 2007

van der Merwe, Rudolph; Wan, Eric A.; Julier, Simon
US Patent Document 7,289,906
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7289906

Trajectory design and control for aggressive formation flight with quadrotors
journal, February 2012

Turpin, Matthew; Michael, Nathan; Kumar, Vijay
Autonomous Robots, Vol. 33, Issue 1-2
https://doi.org/10.1007/s10514-012-9279-y

Robust and unobtrusive marker tracking on mobile phones
conference, September 2008

Wagner, Daniel; Langlotz, Tobias; Schmalstieg, Dieter
2008 7th IEEE/ACM International Symposium on Mixed and Augmented Reality (ISMAR)
https://doi.org/10.1109/ISMAR.2008.4637337

Vehicle control system including related methods and components
patent, December 2011

Duggan, David S.; Felio, David A.; Pate, Billy B.
US Patent Document 8,082,074
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8082074

Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3): Nonlinear Robust Tracking Control of a Quadrotor UAV
journal, July 2012

Lee, Taeyoung; Leok, Melvin; McClamroch, N. Harris
Asian Journal of Control, Vol. 15, Issue 2
https://doi.org/10.1002/asjc.567

LQR-trees: Feedback motion planning on sparse randomized trees
conference, June 2009

Tedrake, R.
Robotics: Science and Systems 2009, Robotics: Science and Systems V
https://doi.org/10.15607/RSS.2009.V.003

Modeling and control of formations of nonholonomic mobile robots
journal, January 2001

Desai, J. P.; Ostrowski, J. P.; Kumar, V.
IEEE Transactions on Robotics and Automation, Vol. 17, Issue 6
https://doi.org/10.1109/70.976023

Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion
patent, May 2015

Kumar, Rakesh; Samarasekera, Supun; Chiu, Han-Pang
US Patent Document 9,031,809
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9031809

River mapping from a flying robot: state estimation, river detection, and obstacle mapping
journal, April 2012

Scherer, Sebastian; Rehder, Joern; Achar, Supreeth
Autonomous Robots, Vol. 33, Issue 1-2
https://doi.org/10.1007/s10514-012-9293-0

The GRASP Multiple Micro-UAV Testbed
journal, September 2010

Michael, Nathan; Mellinger, Daniel; Lindsey, Quentin
IEEE Robotics & Automation Magazine, Vol. 17, Issue 3
https://doi.org/10.1109/MRA.2010.937855

Comment on "A new method for the nonlinear transformation of means and covariances in filters and estimators" [with authors' reply]
journal, August 2002

Lefebvre, T.; Bruyninckx, H.; De Schuller, J.
IEEE Transactions on Automatic Control, Vol. 47, Issue 8
https://doi.org/10.1109/TAC.2002.800742

Three-dimensional manipulation of teams of quadrotors
patent, March 2017

Kumar, Vijay A.; Kushleyev, Aleksandr; Mellinger, III, Daniel Warren
US Patent Document 9,599,993
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9599993

Geometric tracking control of a quadrotor UAV on SE(3)
conference, December 2010

Lee, Taeyoung; Leok, Melvin; McClamroch, N. Harris
2010 49th IEEE Conference on Decision and Control (CDC 2010), 49th IEEE Conference on Decision and Control (CDC)
https://doi.org/10.1109/CDC.2010.5717652

Camera-IMU-based localization: Observability analysis and consistency improvement
journal, November 2013

Hesch, Joel A.; Kottas, Dimitrios G.; Bowman, Sean L.
The International Journal of Robotics Research, Vol. 33, Issue 1
https://doi.org/10.1177/0278364913509675

Control of Formations of UAVs for Surveillance and Reconnaissance Missions
journal, January 2008

Kopfstedt, T.; Mukai, M.; Fujita, M.
IFAC Proceedings Volumes, Vol. 41, Issue 2
https://doi.org/10.3182/20080706-5-KR-1001.00867

Multi-robot mapping using manifold representations
conference, January 2004

Howard, A.
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
https://doi.org/10.1109/ROBOT.2004.1308933

Planning for landing site selection in the aerial supply delivery
conference, September 2011

Kushleyev, Aleksandr; MacAllister, Brian; Likhachev, Maxim
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
https://doi.org/10.1109/IROS.2011.6094840

Mixed integer programming for multi-vehicle path planning
conference, September 2001

Schouwenaars, Tom; De Moor, Bart; Feron, Eric
2001 European Control Conference (ECC)
https://doi.org/10.23919/ECC.2001.7076321

Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
journal, April 2005

Peng, Jufeng; Akella, Srinivas
The International Journal of Robotics Research, Vol. 24, Issue 4
https://doi.org/10.1177/0278364905051974

Autonomous indoor 3D exploration with a micro-aerial vehicle
conference, May 2012

Shen, Shaojie; Michael, Nathan; Kumar, Vijay
2012 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2012.6225146

Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments
conference, May 2012

Weiss, Stephan; Achtelik, Markus W.; Lynen, Simon
2012 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2012.6225147

Real-time refinement method of spacecraft star tracker alignment estimates
patent, September 2011

Needelman, David D.; Li, Rongsheng; Wu, Yeong-Wei A.
US Patent Document 8,019,544
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8019544

New extension of the Kalman filter to nonlinear systems
conference, July 1997

Julier, Simon J.; Uhlmann, Jeffrey K.
AeroSense '97, SPIE Proceedings
https://doi.org/10.1117/12.280797

Autonomous multi-floor indoor navigation with a computationally constrained MAV
conference, May 2011

Shen, Shaojie; Michael, Nathan; Kumar, Vijay
2011 IEEE International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/ICRA.2011.5980357

Implementing a Stand-up Sequence Using a Lower-Extremity Prosthesis or Orthosis
patent-application, April 2011

Herr, Hugh M.; Casler, Richard J.
US Patent Application 12/872425; 20110082566
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20110082566

RANGE-Robust autonomous navigation in GPS-denied environments: Robust Autonomous Navigation in GPS-Denied Environments
journal, August 2011

Bachrach, Abraham; Prentice, Samuel; He, Ruijie
Journal of Field Robotics, Vol. 28, Issue 5
https://doi.org/10.1002/rob.20400

Similar Records in DOE Patents and OSTI.GOV collections:

Connected and automated vehicles, driving systems, and control logic for info-rich eco-autonomous driving

Patent Zhao, Junfeng; Chang, Chen-Fang; Hegde, Bharatkumar; ...

A method for controlling automated driving operations of a vehicle includes determining vehicle origin and destination data, and generating a graphical representation of a road network with multiple candidate routes between the vehicle's origin and destination. Road-level data, including speed, turn angle, and/or gradient data, is received for each candidate route, and respective total energy uses are estimated for the vehicle to traverse across the candidate routes. Multiple candidate driving strategies, each having respective speed and acceleration profiles, are determined for the candidate route with the lowest estimated total energy use. An optimal candidate driving strategy is selected through amore » « less
Full Text Available
Autonomous sensor fish to support advanced hydropower development

Patent Deng, Daniel Z.; Myjak, Mitchell J.; Lu, Jun; ...

An improved sensor fish with robust design and enhanced measurement capabilities. This sensor fish contains sensors for acceleration, rotation, magnetic field intensity, pressure, and temperature. A low-power microcontroller collects data from the sensors and stores up to 5 minutes of data on a non-volatile flash memory. A rechargeable battery supplies power to the sensor fish. A recovery system helps locating sensor fish. The package, when ready for use is nearly neutrally buoyant and thus mimics the behavior of an actual fish.
Full Text Available
Autonomously powered inductively coupled time domain reflectometer sensor device

Patent Folsom, Matthew D.; Burkes, Klaehn W.

Devices, systems and methods for use of an autonomously powered inductive time domain reflectometer sensor device are provided. A sensor device for a power line can include a first induction coil and a second induction coil coupled to the power line and a control device. The first induction coil can be configured to inject a first signal on a power line by inducing a first current on the power line. The second induction coil can be configured to inject a second signal on the power line by inducing a second current on the power line. The control device can bemore » « less
Full Text Available
Autonomous sensor fish to support advanced hydropower development

Patent Deng, Z. Daniel; Myjak, Mitchell J.; Lu, Jun; ...

An improved sensor fish with robust design and enhanced measurement capabilities. This sensor fish contains sensors for acceleration, rotation, magnetic field intensity, pressure, and temperature. A low-power microcontroller collects data from the sensors and stores up to 5 minutes of data on a non-volatile flash memory. A rechargeable battery supplies power to the sensor fish. A recovery system helps locating sensor fish. The package, when ready for use is nearly neutrally buoyant and thus mimics the behavior of an actual fish.
Full Text Available
Engineered setpoints for autonomous distributed sensors and actuators

Patent Edmunds, Thomas A

Loads on an electric power system are configured with under-frequency relays in which the frequency setpoints and delay times for reclosure are uniformly distributed. If demand exceeds supply in the system, frequency will decrease. The decrease in frequency will actuate relays and reduce load to the point where demand will meet the available supply. After its engineered delay time, each relay will attempt to close contact and reestablish the load.
Full Text Available

Similar Records

Title: Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

Abstract

Citation Formats

Coded aperture aided navigation and geolocation systems patent, November 2013

Simultaneous local and global state estimation for robotic navigation conference, May 2009

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor conference, June 2013

Control of Ensembles of Aerial Robots journal, September 2011

Robotic platform and method for performing multiple functions in agricultural systems patent, February 2016

Impedance control of an aerial manipulator conference, June 2012

Receding horizon path planning with implicit safety guarantees conference, January 2004

Visual-inertial structure from motion: Observability and resolvability conference, November 2013

Flocking in Fixed and Switching Networks journal, May 2007

Constrained key frame localization and mapping for vision-aided inertial navigation patent, March 2017

Linear pose estimation from points or lines journal, May 2003

SCAAT: incremental tracking with incomplete information conference, January 1997

Systems, devices, and methods for on-board sensing and control of micro aerial vehicles patent, July 2018

Scale Drift-Aware Large Scale Monocular SLAM conference, June 2010

Path planning for permutation-invariant multirobot formations journal, August 2006

Planning optimal paths for multiple robots on graphs conference, May 2013

Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue journal, September 2012

Fully-coupled positioning process and system thereof patent, August 2001

Conflict resolution for air traffic management: a study in multiagent hybrid systems journal, April 1998

Autonomous control of unmanned aerial vehicles patent, July 2014

Accurate Non-Iterative O(n) Solution to the PnP Problem conference, October 2007

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments journal, October 2011

Collision-avoidance device for aircraft, notably for avoiding collisions with the ground patent, May 1995

Minimum snap trajectory generation and control for quadrotors conference, May 2011

A Formal Basis for the Heuristic Determination of Minimum Cost Paths journal, January 1968

Autonomous Flight in Unknown Indoor Environments journal, December 2009

Systems and methods for remotely collaborative vehicles patent, February 2013

Cooperative manipulation and transportation with aerial robots journal, September 2010

Method and system for assessing damage to infrastructure patent, September 2015

Method and apparatus for improved navigation of a moving platform patent, November 2016

Inverse Depth Parametrization for Monocular SLAM journal, October 2008

Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz conference, April 2007

Sub-sampling: Real-time vision for micro air vehicles journal, February 2012

Real-time hierarchical GPS aided visual SLAM on urban environments conference, May 2009

The Distributed Flight Array conference, May 2010

The Open Motion Planning Library journal, December 2012

Autonomous MAV flight in indoor environments using single image perspective cues conference, May 2011

A Fully Autonomous Indoor Quadrotor journal, February 2012

Interrogator And System Employing The Same patent-application, October 2012

Cooperative Control of Swarms of Unmanned Aerial Vehicles conference, June 2011

System and method for in-flight trajectory path synthesis using the time sampled output of onboard sensors patent, July 2007

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array patent, August 2015

Incremental Sampling-based Algorithms for Optimal Motion Planning conference, June 2010

Parallel Tracking and Mapping on a camera phone conference, October 2009

A coordination architecture for spacecraft formation control journal, January 2001

A simple learning strategy for high-speed quadrocopter multi-flips conference, May 2010

Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment* journal, September 2012

Systems and methods for determining inertial navigation system faults patent, February 2017

Multi-vehicle path planning for non-line of sight communication conference, January 2006

Toward image based visual servoing for aerial grasping and perching conference, May 2014

System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods patent, July 2002

C apt : Concurrent assignment and planning of trajectories for multiple robots journal, January 2014

Camera and inertial measurement unit integration with navigation data feedback for feature tracking patent, March 2014

Pedestrian Tracking with Shoe-Mounted Inertial Sensors journal, November 2005

Stereo vision based indoor/outdoor navigation for flying robots conference, November 2013

Cooperative multi-robot localization under communication constraints conference, May 2009

Observability-constrained vision-aided inertial navigation patent, January 2016

Centralized path planning for multiple robots: Optimal decoupling into sequential plans conference, June 2009

A robust and modular multi-sensor fusion approach applied to MAV navigation conference, November 2013

Toward Efficient Trajectory Planning: The Path-Velocity Decomposition journal, September 1986

Method and apparatus for rapidly turning a vehicle in a fluid medium patent, October 2001

Subdimensional expansion for multirobot path planning journal, February 2015

Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs conference, May 2015

Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration journal, November 2010

Systems, devices, and methods for robotic remote sensing for precision agriculture patent, August 2019

Vision-based autonomous mapping and exploration using a quadrotor MAV conference, October 2012

Multisensor fusion for autonomous UAV navigation based on the Unscented Kalman Filter with Sequential Measurement Updates conference, September 2010

Method and apparatus for improved navigation of a moving platform patent, June 2014

Autonomous Control of Unmanned Aerial Vehicles patent-application, October 2014

Enhanced Partial Expansion A* journal, May 2014

Formation constrained multi-agent control journal, January 2001

Parallel Tracking and Mapping for Small AR Workspaces conference, November 2007

Collaborative monocular SLAM with multiple Micro Aerial Vehicles conference, November 2013

CoSLAM: Collaborative Visual SLAM in Dynamic Environments journal, February 2013

Distinctive Image Features from Scale-Invariant Keypoints journal, November 2004

Collaborative mapping of an earthquake-damaged building via ground and aerial robots: Collaborative Mapping of an Earthquake-Damaged Building journal, August 2012

State estimation for highly dynamic flying systems using key frame odometry with varying time delays conference, October 2012

Coded aperture aided navigation and geolocation systems
patent, November 2013

Simultaneous local and global state estimation for robotic navigation
conference, May 2009

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor
conference, June 2013

Control of Ensembles of Aerial Robots
journal, September 2011

Robotic platform and method for performing multiple functions in agricultural systems
patent, February 2016

Impedance control of an aerial manipulator
conference, June 2012

Receding horizon path planning with implicit safety guarantees
conference, January 2004

Visual-inertial structure from motion: Observability and resolvability
conference, November 2013

Flocking in Fixed and Switching Networks
journal, May 2007

Constrained key frame localization and mapping for vision-aided inertial navigation
patent, March 2017

Linear pose estimation from points or lines
journal, May 2003

SCAAT: incremental tracking with incomplete information
conference, January 1997

Systems, devices, and methods for on-board sensing and control of micro aerial vehicles
patent, July 2018

Scale Drift-Aware Large Scale Monocular SLAM
conference, June 2010

Path planning for permutation-invariant multirobot formations
journal, August 2006

Planning optimal paths for multiple robots on graphs
conference, May 2013

Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue
journal, September 2012

Fully-coupled positioning process and system thereof
patent, August 2001

Conflict resolution for air traffic management: a study in multiagent hybrid systems
journal, April 1998

Autonomous control of unmanned aerial vehicles
patent, July 2014

Accurate Non-Iterative O(n) Solution to the PnP Problem
conference, October 2007

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments
journal, October 2011

Collision-avoidance device for aircraft, notably for avoiding collisions with the ground
patent, May 1995

Minimum snap trajectory generation and control for quadrotors
conference, May 2011

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
journal, January 1968

Autonomous Flight in Unknown Indoor Environments
journal, December 2009

Systems and methods for remotely collaborative vehicles
patent, February 2013

Cooperative manipulation and transportation with aerial robots
journal, September 2010

Method and system for assessing damage to infrastructure
patent, September 2015

Method and apparatus for improved navigation of a moving platform
patent, November 2016

Inverse Depth Parametrization for Monocular SLAM
journal, October 2008

Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz
conference, April 2007

Sub-sampling: Real-time vision for micro air vehicles
journal, February 2012

Real-time hierarchical GPS aided visual SLAM on urban environments
conference, May 2009

The Distributed Flight Array
conference, May 2010

The Open Motion Planning Library
journal, December 2012

Autonomous MAV flight in indoor environments using single image perspective cues
conference, May 2011

A Fully Autonomous Indoor Quadrotor
journal, February 2012

Interrogator And System Employing The Same
patent-application, October 2012

Cooperative Control of Swarms of Unmanned Aerial Vehicles
conference, June 2011

System and method for in-flight trajectory path synthesis using the time sampled output of onboard sensors
patent, July 2007

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
patent, August 2015

Incremental Sampling-based Algorithms for Optimal Motion Planning
conference, June 2010

Parallel Tracking and Mapping on a camera phone
conference, October 2009

A coordination architecture for spacecraft formation control
journal, January 2001

A simple learning strategy for high-speed quadrocopter multi-flips
conference, May 2010

Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment*
journal, September 2012

Systems and methods for determining inertial navigation system faults
patent, February 2017

Multi-vehicle path planning for non-line of sight communication
conference, January 2006

Toward image based visual servoing for aerial grasping and perching
conference, May 2014

System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods
patent, July 2002

C apt : Concurrent assignment and planning of trajectories for multiple robots
journal, January 2014

Camera and inertial measurement unit integration with navigation data feedback for feature tracking
patent, March 2014

Pedestrian Tracking with Shoe-Mounted Inertial Sensors
journal, November 2005

Stereo vision based indoor/outdoor navigation for flying robots
conference, November 2013

Cooperative multi-robot localization under communication constraints
conference, May 2009

Observability-constrained vision-aided inertial navigation
patent, January 2016

Centralized path planning for multiple robots: Optimal decoupling into sequential plans
conference, June 2009

A robust and modular multi-sensor fusion approach applied to MAV navigation
conference, November 2013

Toward Efficient Trajectory Planning: The Path-Velocity Decomposition
journal, September 1986

Method and apparatus for rapidly turning a vehicle in a fluid medium
patent, October 2001

Subdimensional expansion for multirobot path planning
journal, February 2015

Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs
conference, May 2015

Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
journal, November 2010

Systems, devices, and methods for robotic remote sensing for precision agriculture
patent, August 2019

Vision-based autonomous mapping and exploration using a quadrotor MAV
conference, October 2012

Multisensor fusion for autonomous UAV navigation based on the Unscented Kalman Filter with Sequential Measurement Updates
conference, September 2010

Method and apparatus for improved navigation of a moving platform
patent, June 2014

Autonomous Control of Unmanned Aerial Vehicles
patent-application, October 2014

Enhanced Partial Expansion A*
journal, May 2014

Formation constrained multi-agent control
journal, January 2001

Parallel Tracking and Mapping for Small AR Workspaces
conference, November 2007

Collaborative monocular SLAM with multiple Micro Aerial Vehicles
conference, November 2013

CoSLAM: Collaborative Visual SLAM in Dynamic Environments
journal, February 2013

Distinctive Image Features from Scale-Invariant Keypoints
journal, November 2004

Collaborative mapping of an earthquake-damaged building via ground and aerial robots: Collaborative Mapping of an Earthquake-Damaged Building
journal, August 2012

State estimation for highly dynamic flying systems using key frame odometry with varying time delays
conference, October 2012

Vision-based state estimation for autonomous rotorcraft MAVs in complex environments
conference, May 2013

Navigation system applications of sigma-point Kalman filters for nonlinear estimation and sensor fusion
patent, October 2007

Trajectory design and control for aggressive formation flight with quadrotors
journal, February 2012