3/11/2023 0 Comments Song sing github avatar cropprKeywords: Aerial Systems: Perception and Autonomy, Motion and Path PlanningĪbstract: This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. NTNU - Norwegian University of Science and Technology Risk-Aware Motion Planning for Collision-Tolerant Aerial Robots Subject to Localization Uncertainty The proposed architecture is experimentally validated on an Omnidirectional Micro Aerial Vehicle (OMAV) both in free flight and interaction tasks. The LLE is then used in combination with Control Barrier Functions (CBFs) to impose power limit constraints on a jerk controlled system. By actively computing this metric, divergent and possibly dangerous system behaviors can be promptly detected. This approach is based on the computation of the Largest Lyapunov Exponent (LLE) of the system’s error dynamics, which represent a measure of the dynamics’ divergence or convergence rate. The safety layer is implemented independently and on top of already present nominal controllers, like pose or wrench tracking, and limits power flow when the system's response would lead to instability. To deal with these concerns, this work presents a safety layer for mechanical systems that detects and responds to unstable dynamics caused by external disturbances. Keywords: Aerial Systems: Mechanics and Control, Robot Safety, Force ControlĪbstract: As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. (Finalist for IROS Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi Sponsored by IRSI) Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents This middle ground between teleoperation and autonomy can increase end-user acceptance while directly alleviating some of the operator's robot control burden and maintaining the resilience of the human-in-the-loop. Last, as emergency response stakeholders are often skeptical about using autonomous systems, we suggest adopting a variable autonomy paradigm to integrate autonomous robotic capabilities with the human-in-the-loop gradually. Furthermore, robotic platforms and modules should aim to be robust and reliable in addition to their ease of use. Specifically, the main degradation in performance comes from the cognitive and attentional demands on the operator. Additionally, we provide insights and suggestions for advancing disaster response robotics based on these observations. We present a systematic description of the equipment used the robot operators' training program the field exercise and robot tasks and the protocols followed during the exercise. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. raw returns the crop region values as is based on the size of the Croppr element.Keywords: Robotics in Hazardous Fields, Search and Rescue Robots, Human Factors and Human-in-the-LoopĪbstract: This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany.Defaults to '%'.Ī callback function that is called when the user starts modifying the crop region. Note: unit accepts a value of 'px' or '%'. Example: startSize: (A starting crop region of 50% of the image size).Default: (A starting crop region as large as possible).The starting size of the crop region when it is initialized. Example: maxSize: (Min width and height of 100px).Defaults to 'px'.Ĭonstrain the crop region to a minimum size. Example: maxSize: (Max size of 50% of the image). Constrain the crop region to an aspect ratio.Ĭonstrain the crop region to a maximum size.
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