Authors
Justin Thomas, Giuseppe Loianno, Morgan Pope, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky, Vijay Kumar
Abstract
It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.
Video
BibTeX
@inproceedings{Thomas2015,
address = {Boston},
author = {Thomas, Justin and Loianno, Giuseppe and Pope, Morgan and Hawkes, Elliot W. and Estrada, Matthew A. and Jiang, Hao and Cutkosky, Mark R. and Kumar, Vijay},
booktitle = {International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference (IDETC/CIE)},
publisher = {ASME},
title = {{Planning and Control of Aggresive Maneuvers for Perching on Inclined and Vertical Surfaces}},
year = {2015}
}