dc.creator | Rodríguez-Gómez, J.P. | es |
dc.creator | Tapia López, Raúl | es |
dc.creator | Guzmán García, María del Mar | es |
dc.creator | Martínez de Dios, José Ramiro | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2022-07-08T10:35:17Z | |
dc.date.available | 2022-07-08T10:35:17Z | |
dc.date.issued | 2022-04 | |
dc.identifier.citation | Rodríguez-Gómez, J.P., Tapia López, R., Guzmán García, M.d.M., Martínez-de Dios, J.R. y Ollero Baturone, A. (2022). Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight. IEEE Robotics and Automation Letters, 7 (2), 5413-5420. | |
dc.identifier.issn | 2377-3766 | es |
dc.identifier.uri | https://hdl.handle.net/11441/135164 | |
dc.description.abstract | Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This letter presents a fully onboard dynamic sense-and-avoid scheme for large-scale ornithopters using event cameras. These sensors trigger pixel information due to changes of illumination in the scene such as those produced by dynamic objects. The method performs event-by-event processing in low-cost hardware such as those onboard small aerial vehicles. The proposed scheme detects obstacles and evaluates possible collisions with the robot body. The onboard controller actuates over the horizontal and vertical tail deflections to execute the avoidance maneuver. The scheme is validated in both indoor and outdoor scenarios using obstacles of different shapes and sizes. To the best of the authors’ knowledge, this is the first event-based method for dynamic obstacle avoidance in a flapping-wing robot. | es |
dc.description.sponsorship | Consejo Europeo de Investigación (ERC) 788247 | es |
dc.description.sponsorship | Comisión Europea - Proyecto AERIAL-CORE H2020-2019-871479 | es |
dc.description.sponsorship | Ministerio de Universidades FPU19/04692 | es |
dc.format | application/pdf | es |
dc.format.extent | 8 p. | es |
dc.language.iso | eng | es |
dc.publisher | IEEE | es |
dc.relation.ispartof | IEEE Robotics and Automation Letters, 7 (2), 5413-5420. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Collision avoidance | es |
dc.subject | Aerial systems: perception and autonomy | es |
dc.subject | Event camera | es |
dc.subject | Ornithopter | es |
dc.subject | Flapping-wing robot | es |
dc.title | Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | 788247 | es |
dc.relation.projectID | H2020-2019-871479 | es |
dc.relation.projectID | FPU19/04692 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9720923 | es |
dc.identifier.doi | 10.1109/LRA.2022.3153904 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | IEEE Robotics and Automation Letters | es |
dc.publication.volumen | 7 | es |
dc.publication.issue | 2 | es |
dc.publication.initialPage | 5413 | es |
dc.publication.endPage | 5420 | es |