Minimum-energy path generation for a quadrotor UAV

Morbidi, Fabio; Cano, Roel; Lara, David

doi:10.1109/icra.2016.7487285

Cited by 148 publications

(104 citation statements)

References 16 publications

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“…v j and _ v j , j ¼ f1, 2, 3, 4g denote the jth motor angular velocities and accelerations, respectively. The optimal control problem is further simplified via an appropriate change of variables and then solved numerically; the reported approach is tested in simulation and shows promising results [61]. The reported analysis can perhaps be adapted to other types of multicopter vehicles.…”

Section: Energy-aware Motion Planningmentioning

confidence: 99%

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Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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Recent advances in design, sensing and control have led to aerial robots that offer great promise in a range of real-world applications. However, one critical open question centres on how to improve the energetic efficiency of aerial robots so that they can be useful in practical situations. This review paper provides a survey on small-scale aerial robots (i.e. less than 1 m 2 area foot print, and less than 3 kg weight) from the point of view of energetics. The paper discusses methods to improve the efficiency of aerial vehicles, and reports on recent findings by the authors and other groups on modelling the impact of aerodynamics for the purpose of building energy-aware motion planners and controllers.

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Section: Energy-aware Motion Planningmentioning

confidence: 99%

“…One idea is to formulate an optimal control problem to generate paths that minimize the energy consumed with respect to motor angular velocities and accelerations [61], or only motor angular velocities [60].…”

Section: Energy-aware Motion Planningmentioning

confidence: 99%

Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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“…Thus, this subsection presents an analysis concerning a study case on the topic. Considering the parameters of Table 5 for an electric motor X2212 1250kV manufacture by Sunnysky [51] and a standard propeller, it is possible to estimate the energy consumption required to lift a quad-motor rotary wing and a bi-motor fixed-wing aircraft from 500 grams up to 3000 grams using the models in [52,53]. This range of weights was chosen due to the fact that they cover most of the commercial UAVs.…”

Section: Power Consumption Impactmentioning

confidence: 99%

A Framework for Analyzing Fog-Cloud Computing Cooperation Applied to Information Processing of UAVs

Pinto

Marcato

Melo

et al. 2019

Wireless Communications and Mobile Computing

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Unmanned aerial vehicles (UAVs) are a relatively new technology. Their application can often involve complex and unseen problems. For instance, they can work in a cooperative-based environment under the supervision of a ground station to speed up critical decision-making processes. However, the amount of information exchanged among the aircraft and ground station is limited by high distances, low bandwidth size, restricted processing capability, and energy constraints. These drawbacks restrain large-scale operations such as large area inspections. New distributed state-of-the-art processing architectures, such as fog computing, can improve latency, scalability, and efficiency to meet time constraints via data acquisition, processing, and storage at different levels. Under these amendments, this research work proposes a mathematical model to analyze distribution-based UAVs topologies and a fog-cloud computing framework for large-scale mission and search operations. The tests have successfully predicted latency and other operational constraints, allowing the analysis of fog-computing advantages over traditional cloud-computing architectures.

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“…A potential avenue is to adapt existing research on using convex optimization to plan reliable minimum‐fuel trajectories for planetary landers (Açıkmeşe & Ploen, ). There is also more direct research for multirotor minimum‐energy and minimum‐time trajectory generation (Morbidi, Cano, & Lara, ; Mueller et al, ; Vicencio, Korras, Bordignon, & Gentilini, ). On the control side, our experience shows that closed‐loop motor RPM control can benefit trajectory tracking accuracy as it effectively renders the motor thrust characteristic independent of battery voltage.…”

Section: Future Workmentioning

confidence: 99%

Long‐duration fully autonomous operation of rotorcraft unmanned aerial systems for remote‐sensing data acquisition

Malyuta

Brommer

Hentzen

et al. 2019

Journal of Field Robotics

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Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, for example, days or weeks. This has so far been impractical due to the limited flight times of such platforms and the requirement of humans in the loop for operation. To overcome these limitations, we propose a fully autonomous rotorcraft UAS that is capable of performing repeated flights for long‐term observation missions without any human intervention. We address two key technologies that are critical for such a system: full platform autonomy to enable mission execution independently from human operators and the ability of vision‐based precision landing on a recharging station for automated energy replenishment. High‐level autonomous decision making is implemented as a hierarchy of master and slave state machines. Vision‐based precision landing is enabled by estimating the landing pad's pose using a bundle of AprilTag fiducials configured for detection from a wide range of altitudes. We provide an extensive evaluation of the landing pad pose estimation accuracy as a function of the bundle's geometry. The functionality of the complete system is demonstrated through two indoor experiments with duration of 11 and 10.6 hr, and one outdoor experiment with a duration of 4 hr. The UAS executed 16, 48, and 22 flights, respectively, during these experiments. In the outdoor experiment, the ratio between flying to collect data and charging was 1–10, which is similar to past work in this domain. All flights were fully autonomous with no human in the loop. To our best knowledge, this is the first research publication about the long‐term outdoor operation of a quadrotor system with no human interaction.

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Minimum-energy path generation for a quadrotor UAV

Cited by 148 publications

References 16 publications

Energetics in robotic flight at small scales

Energetics in robotic flight at small scales

A Framework for Analyzing Fog-Cloud Computing Cooperation Applied to Information Processing of UAVs

Long‐duration fully autonomous operation of rotorcraft unmanned aerial systems for remote‐sensing data acquisition

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