5 papers
A collision-resilient aerial vehicle with icosahedron tensegrity structure
Jiaming Zha, Xiangyu Wu, Joseph Kroeger +2
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology use…
In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size
Xiangyu Wu, Mark W. Mueller
Limited flight range is a common problem for multicopters. To alleviate this problem, we propose a method for finding the optimal speed and heading of a multicopter when flying a g…
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
Nathan Bucki, Junseok Lee, Mark W. Mueller
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth ima…
Flying batteries: In-flight battery switching to increase multirotor flight time
Karan P. Jain, Mark W. Mueller
We present a novel approach to increase the flight time of a multirotor via mid-air docking and in-flight battery switching. A main quadcopter flying using a primary battery has a…
Rapid Collision Detection for Multicopter Trajectories
Nathan Bucki, Mark W. Mueller
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is u…