dc.contributor.author | De Petris, Paolo | |
dc.contributor.author | Nguyen, Dinh Huan | |
dc.contributor.author | Kulkarni, Mihir | |
dc.contributor.author | Mascarich, Frank | |
dc.contributor.author | Alexis, Konstantinos | |
dc.date.accessioned | 2022-04-01T12:08:38Z | |
dc.date.available | 2022-04-01T12:08:38Z | |
dc.date.created | 2022-01-14T13:53:46Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-1-7281-9077-8 | |
dc.identifier.uri | https://hdl.handle.net/11250/2989296 | |
dc.description.abstract | This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot maintains a low weight (<500g) and implements a combined rigid-compliant design through the integration of elastic flaps around its stiff collision-tolerant frame. These passive flaps ensure compliant collisions, contact sensing and smooth navigation in contact with the environment. Focusing on resilient autonomy, capable of running on resource-constrained hardware, we demonstrate the beneficial role of compliant collisions for the reliability of the onboard visual-inertial odometry and propose a safe navigation policy that exploits both collision-avoidance using lightweight time-of-flight sensing and adaptive control in response to collisions. The robot further realizes an explicit manhole navigation mode that exploits the direct mechanical feedback provided by the flaps and a special navigation strategy to self-align inside manholes with non-straight geometry. Comprehensive experimental studies are presented to evaluate, both individually and as a whole, how resilience is achieved based on the robot design and its navigation scheme. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.ispartof | 2021 IEEE International Conference on Robotics and Automation (ICRA) | |
dc.title | Resilient Collision-tolerant Navigation in Confined Environments | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.source.pagenumber | 2286-2292 | en_US |
dc.identifier.doi | 10.1109/ICRA48506.2021.9561999 | |
dc.identifier.cristin | 1981235 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |