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Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight

Authors: Rodriguez-Gomez, Juan Pablo; Tapia, Raul; Guzman, Maria del Mar; Martinez de-Dios, Jose Ramiro; Ollero, Anibal;

Free as a Bird: Event-Based Dynamic Sense-and-Avoid for Ornithopter Robot Flight

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 paper 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.

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Spain
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Keywords

FOS: Computer and information sciences, Computer Science - Robotics, Collision avoidance, Ornithopter, Aerial systems: perception and autonomy, event camera, ornithopter, flapping-wing robot, reactive sense-and-avoid., Event camera, Robotics (cs.RO), Flapping-wing robot

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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