The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Grabe, Volker; Riedel, Morris; Bülthoff, Heinrich H.; Giordano, Paolo Robuffo; Franchi, Antonio

doi:10.1109/ecmr.2013.6698814

Cited by 55 publications

(44 citation statements)

References 9 publications

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“…For our experiments, we made use of a quadrotor UAV from MikroKopter as experimental platform, and of the free TeleKyb software framework [32] as middleware and control software. An external motion tracking system (Vicon 4 ) was employed for obtaining the ground truth data and for allowing closedloop control of the UAV in all the following experiments apart from the results reported in Sec.…”

Section: A Experimental Setupmentioning

confidence: 99%

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV

Grabe

Bülthoff

Scaramuzza

et al. 2015

The International Journal of Robotics Research

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Abstract-For the control of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, cameras have been widely exploited as main sensory modality for addressing the UAV state estimation problem. However, the use of visual information for ego-motion estimation presents several theoretical and practical difficulties, such as data association, occlusions, and lack of direct metric information when exploiting monocular cameras. In this paper, we address these issues by considering a quadrotor UAV equipped with an onboard monocular camera and an Inertial Measurement Unit (IMU). First, we propose a robust ego-motion estimation algorithm for recovering the UAV scaled linear velocity and angular velocity from optical flow by exploiting the so-called continuous homography constraint in presence of planar scenes. Then, we address the problem of retrieving the (unknown) metric scale by fusing the visual information with measurements from the onboard IMU. To this end, two different estimation strategies are proposed and critically compared: a first one exploiting the classical Extended Kalman Filter (EKF) formulation, and a second one based on a novel nonlinear estimation framework. The main advantage of the latter scheme lies in the possibility of imposing a desired transient response to the estimation error when the camera moves with a constant acceleration norm w.r.t. the observed plane. We indeed show that, when compared against the EKF on the same trajectory and sensory data, the nonlinear scheme yields considerably superior performance in terms of convergence rate and predictability of the estimation. The paper is then concluded by an extensive experimental validation, including an onboard closed-loop control of a real quadrotor UAV meant to demonstrate the robustness of our approach in real-world conditions.

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Section: A Experimental Setupmentioning

confidence: 99%

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV

Grabe

Bülthoff

Scaramuzza

et al. 2015

The International Journal of Robotics Research

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“…The large majority of works in collaborative control of aerial robots belong to the first category. Motion capture systems, global positioning systems (GPS), and wireless based localization are some example of the infrastructures used in these works [14], [30], [31], [8], [32].…”

Section: F Use Of Onboard Sensors Onlymentioning

confidence: 99%

Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots

Franchi

2017

Trends in Control and Decision-Making for Human–Robot Collaboration Systems

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Abstract-In this chapter we show and compare several representative examples of human-collaborative schemes in the control of mobile robots, with a particular emphasis on the aerial robot case. We first provide a simplified yet descriptive model of the robot and its interactions. We then use this model to define a taxonomy that highlights the main aspects of these collaboration schemes, such as: the physical domain of the robots, the degree of autonomy, the force interaction with the operator (e.g., the unilateral versus the bilateral haptic shared control), the near-operation versus the teleoperation, the contact-free versus the physically interactive situation, the use of onboard sensors, and the presence of a time-horizon in the operator reference. We then specialize the proposed taxonomy to the multi-robot case in which we further distinguish the methods depending on their level of centralization, the presence of leader-follower schemes, of formation control schemes, the ability to preserve graph theoretical properties, and to perform cooperative physical interaction. The common denominator of all the examples presented in this chapter is the presence of a human operator in the control loop. The main goal of the chapter is to introduce the reader and provide a firstlevel analysis on the several ways to effectively include human operators in the control of both single and multiple aerial robots and, by extension, of more generic mobile robots.

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“…The trajectory consisted of a take-off and a constant-height maneuver above the ground, as shown in Figure 12 and was generated using the TeleKyb Framework [25]. We recorded a dataset composed of camera images, IMU measurements and ground truth data provided by the Optitrack.…”

Section: B Experiments On Real Datamentioning

confidence: 99%

2-Point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles

Troiani

Martinelli

Laugier

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the featurematching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data.

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The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Cited by 55 publications

References 9 publications

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV

Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots

2-Point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles

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