ModQuad-Vi: A vision-based self-assembling modular quadrotor

Guanrui Li, Bruno Gabrich, David Saldana, Jnaneshwar Das, Vijay Kumar, Mark Yim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Flying modular robots have the potential to rapidly form temporary structures. In the literature, docking actions rely on external systems and indoor infrastructures for relative pose estimation. In contrast to related work, we provide local estimation during the self-assembly process to avoid dependency on external systems. In this paper, we introduce ModQuad-Vi, a flying modular robot that is aimed to operate in outdoor environments. We propose a new robot design and vision-based docking method. Our design is based on a quadrotor platform with onboard computation and visual perception. Our control method is able to accurately align modules for docking actions. Additionally, we present the dynamics and a geometric controller for the aerial modular system. Experiments validate the vision-based docking method with successful results.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages346-352
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Li, G., Gabrich, B., Saldana, D., Das, J., Kumar, V., & Yim, M. (2019). ModQuad-Vi: A vision-based self-assembling modular quadrotor. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 346-352). [8794056] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794056