Presentation
Why fly blind? Event-based visual guidance for ornithopter robot flight
Author/s | Rodríguez-Gómez, J.P.
Tapia López, Raúl Maldonado, F.J. Acosta Rodríguez, José Ángel Martínez de Dios, José Ramiro Ollero Baturone, Aníbal Gómez-Eguíluz, A. |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2021 |
Deposit Date | 2022-06-09 |
Published in |
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ISBN/ISSN | 9781665417143 2153-0858 |
Abstract | The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area. This paper presents a fully onboard event-based method ... The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area. This paper presents a fully onboard event-based method for ornithopter robot visual guidance. The method uses event cameras to exploit their fast response and robustness against motion blur in order to feed the ornithopter control loop at high rates (100 Hz). The proposed scheme visually guides the robot using line features extracted in the event image plane and controls the flight by actuating over the horizontal and vertical tail deflections. It has been validated on board a real ornithopter robot with real-time computation in low-cost hardware. The experimental evaluation includes sets of experiments with different maneuvers indoors and outdoors. |
Project ID. | 788247 |
Citation | Rodríguez-Gómez, J.P., Tapia López, R., Maldonado, F.J., Acosta Rodríguez, J.Á., Martínez de Dios, J.R., Ollero Baturone, A.,...,Gómez-Eguíluz, A. (2021). Why fly blind? Event-based visual guidance for ornithopter robot flight. En 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (1958-1965), Praga, Rep. Checa: IEEE. |
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Gómez Eguíluz_2021_Ponencia_Why ... | 8.735Mb | [PDF] | View/ | |