Updates
- 05/09/2016 The final program is available
- 04/25/2016 The tutorial will take place in room A3
- 02/28/2016 The website is available
Goal
This tutorial provides an introduction to the theory and practice of aerial robots, with a mix of fundamentals and application. It will expose participants to the state of the art in robot design, mechanics, control, estimation, perception and planning.
Program
- 08:00 - 08:20 Introduction Aerial robotics: Vijay Kumar
- Presentation slides Suggested readings:
- V. Kumar, Robotics Specialization on Coursera
- R. Mahony, V. Kumar and P. Corke, "Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor", IEEE Robotics & Automation Magazine, Vol. 19, No. 3, 2012
- V. Kumar and N. Michael, "Opportunities and Challenges with Micro Aerial Vehicles", Int. Journal on Robotics Research, Vol. 31, No. 11, 2012
- 08:20 - 09:00 Multirotor aircrafts: Robert Mahony
- Presentation slides Suggested readings:
- R. Mahony, R. W. Beard, V. Kumar, “Modeling and Control of Aerial Robots,” Springer Handbook of Robotics, 2nd Edition, Princeton University Press, 2012
- M. Bangura, M. Melega, R. Naldi, R. Mahony, "Aerodynamics of Rotor Blades for Quadrotors", arxiv, 2016
- 09:00 - 09:20 Fixed wing aircrafts: Randy Beard
- Presentation slides Suggested readings:
- R. W. Beard and T. W. McLain, "Small Unmanned Aircraft: Theory and Practice", Princeton University Press, 2012
- M. Owen, R. W. Beard, and T. W. McLain, "Implementing Dubins Airplane Paths on Fixed-wing UAVs", Handbook of Unmanned Aerial Vehicles (G. J. V. Kimon P. Valavanis, ed.), ch. 68, pp. 1677–1702, Springer, 2014
- 09:20 - 09:30 Discussion: Aircrafts (moderated by Vijay Kumar)
- 09:30 - 10:10 Visual odometry: Davide Scaramuzza
- Presentation slides Suggested readings:
- D. Scaramuzza and F. Fraundorfer, "Visual Odometry [Tutorial]: Part I - The First 30 Years and Fundamentals", IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011
- F. Fraundorfer and D. Scaramuzza, "Visual odometry: Part II - Matching, robustness, optimization, and applications", IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012
- C. Forster, M. Pizzoli, and D. Scaramuzza, "SVO: Fast Semi-Direct Monocular Visual Odometry", IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014
- C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry", IEEE Transactions on Robotics, to appear, 2016
- M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, and D. Scaramuzza, "Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle", Journal of Field Robotics, 2015
- 10:10 - 10:20 Discussion: Vision (moderated by Vijay Kumar)
- 10:20 - 10:40 Break
- 10:40 - 11:00 Sensor fusion for state estimation: Shaojie Shen
- Presentation slides Suggested readings:
- Z. Yang and S. Shen, "Monocular Visual-Inertial State Estimation with Online Initialization and Camera-IMU Extrinsic Calibration", IEEE Transactions on Automation Science and Engineering, 2016
- S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, "Multi-Sensor Fusion for Robust Autonomous Flight in Indoor and Outdoor Environments with a Rotorcraft MAV", IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014
- 11:00 - 11:10 Discussion: Multi sensor system (moderated by Vijay Kumar)
- 11:10 - 11:30 Low power, low cost platforms: Giuseppe Loianno
- Presentation slides Suggested readings:
- G. Loianno, Y. Mulgaonkar, C. Brunner, D. Ahuja, A. Ramanandan, M. Chari, S. Diaz, and V. Kumar, "Smartphones Power Flying Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
- G. Loianno, G. Cross, C. Qu, Y. Mulgaonkar, J. A. Hesch, and V. Kumar, "Flying Smartphones: Automated Flight Enabled by Consumer Electronics", IEEE Robotics and Automation Magazine, vol. 22, issue 2, 2015
- G. Loianno, M. Watterson, and V. Kumar, "Visual-Inertial Odometry for Quadrotors on SE(3)", IEEE International Conference on Robotics and Automation, 2016
- 11:30 - 11:50 Aerial Manipulation: Anibal Ollero
- Presentation slides Suggested readings:
- M. Bernard, K. Kondak, I. Maza, and A. Ollero, "Autonomous Transportation and Deployment with Aerial Robots for Search and Rescue Missions", Journal of Field Robotics, Vol. 28, Issue 6, pp. 914-931, Wiley Blackwell, November/December 2011
- E. Jimenez-Cano, J. Martin, G. Heredia, R. Cano, and A. Ollero, "Control of an aerial robot with multi-link arm for assembly tasks", IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 6-10 May 2013
- K. Kondak, A. Ollero, I. Maza, K. Krieger, A. Albu-Schaeffer, M. Schwarzbach, and M. Laiacker, "Unmanned Aerial Systems Physically Interacting with the Environment. Load Transportation, Deployment and Aerial Manipulation", Handbook of Unmanned Aerial Systems, Springer, 2014
- G. Heredia, A. Jimenez-Cano, M.I. Sanchez, D. Llorente, V. Vega, J. Braga, J.A. Acosta, and A. Ollero, "Control of a Multirotor Outdoor Aerial Manipulator", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
- K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, and A. Ollero, "Experiments on behavioral control of unmanned aerial vehicle manipulator systems", IEEE International Conference on Robotics and Automation 2015, Seattle, USA
- 11:50 - 12:00 Conclusion and Discussion: Applications (moderated by Vijay Kumar)
- Dr. Vijay Kumar
- Dr. Robert Mahony
- Dr. Randy Beard
- Dr. Davide Scaramuzza
- Dr. Shaojie Shen
- Dr. Giuseppe Loianno
- Dr. Anibal Ollero
- V. Kumar, Robotics Specialization on Coursera
- R. Mahony, V. Kumar and P. Corke, "Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor", IEEE Robotics & Automation Magazine, Vol. 19, No. 3, 2012
- V. Kumar and N. Michael, "Opportunities and Challenges with Micro Aerial Vehicles", Int. Journal on Robotics Research, Vol. 31, No. 11, 2012
- R. Mahony, R. W. Beard, V. Kumar, “Modeling and Control of Aerial Robots,” Springer Handbook of Robotics, 2nd Edition, Princeton University Press, 2012
- M. Bangura, M. Melega, R. Naldi, R. Mahony, "Aerodynamics of Rotor Blades for Quadrotors", arxiv, 2016
- R. W. Beard and T. W. McLain, "Small Unmanned Aircraft: Theory and Practice", Princeton University Press, 2012
- M. Owen, R. W. Beard, and T. W. McLain, "Implementing Dubins Airplane Paths on Fixed-wing UAVs", Handbook of Unmanned Aerial Vehicles (G. J. V. Kimon P. Valavanis, ed.), ch. 68, pp. 1677–1702, Springer, 2014
- M. Argyle and R. W. Beard, "Nonlinear total energy control for the longitudinal dynamics of an aircraft", American Control Conference, 2016
- G. Loianno, Y. Mulgaonkar, C. Brunner, D. Ahuja, A. Ramanandan, M. Chari, S. Diaz, and V. Kumar, "Smartphones Power Flying Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
- G. Loianno, G. Cross, C. Qu, Y. Mulgaonkar, J. A. Hesch, and V. Kumar, "Flying Smartphones: Automated Flight Enabled by Consumer Electronics", IEEE Robotics and Automation Magazine, vol. 22, issue 2, 2015
- G. Loianno, M. Watterson, and V. Kumar, "Visual-Inertial Odometry for Quadrotors on SE(3)", IEEE International Conference on Robotics and Automation, 2016
- Z. Yang and S. Shen, "Monocular Visual-Inertial State Estimation with Online Initialization and Camera-IMU Extrinsic Calibration", IEEE Transactions on Automation Science and Engineering, 2016
- S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, "Multi-Sensor Fusion for Robust Autonomous Flight in Indoor and Outdoor Environments with a Rotorcraft MAV", IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014
- D. Scaramuzza and F. Fraundorfer, "Visual Odometry [Tutorial]: Part I - The First 30 Years and Fundamentals", IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011
- F. Fraundorfer and D. Scaramuzza, "Visual odometry: Part II - Matching, robustness, optimization, and applications", IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012
- C. Forster, M. Pizzoli, and D. Scaramuzza, "SVO: Fast Semi-Direct Monocular Visual Odometry", IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014
- C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry", IEEE Transactions on Robotics, to appear, 2016
- M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, and D. Scaramuzza, "Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle", Journal of Field Robotics, 2015
- M. Bernard, K. Kondak, I. Maza, and A. Ollero, "Autonomous Transportation and Deployment with Aerial Robots for Search and Rescue Missions", Journal of Field Robotics, Vol. 28, Issue 6, pp. 914-931, Wiley Blackwell, November/December 2011
- E. Jimenez-Cano, J. Martin, G. Heredia, R. Cano, and A. Ollero, "Control of an aerial robot with multi-link arm for assembly tasks", IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 6-10 May 2013
- K. Kondak, A. Ollero, I. Maza, K. Krieger, A. Albu-Schaeffer, M. Schwarzbach, and M. Laiacker, "Unmanned Aerial Systems Physically Interacting with the Environment. Load Transportation, Deployment and Aerial Manipulation", Handbook of Unmanned Aerial Systems, Springer, 2014
- G. Heredia, A. Jimenez-Cano, M.I. Sanchez, D. Llorente, V. Vega, J. Braga, J.A. Acosta, and A. Ollero, "Control of a Multirotor Outdoor Aerial Manipulator", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
- K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, and A. Ollero, "Experiments on behavioral control of unmanned aerial vehicle manipulator systems", IEEE International Conference on Robotics and Automation 2015, Seattle, USA
What are aerial robots and why should we study aerial robotics? What are the different types of aerial robots? What are the benefits of using rotorcrafts versus fixed wing aircrafts? How do we model and design robots? And what are the key system design challenges?
How should we model the dynamics of multirotor robots and control them? How do robots estimation their position, orientation and velocity in the real world, both in the presence and absence of GPS?
How should we model the dynamics of fixed aircrafts and how can we design controllers for these aircrafts? How we do plan paths for fixed wing aircrafts?
How does one use cameras to estimate the position and velocity of a flying vehicle? What are the algorithms and open source software packages that can be used?
What sensors besides cameras are required for state estimation? How do we fuse information from different cameras and ensure redundancy? And how do we calibrate different systems?
How can we leverage inexpensive sensors and processors that are available on a smartphone to create autonomous flying robots?
Can aerial robots be used for tasks involving contact with the physical environment? How do we get robots to carry payloads and how do they adapt to changing dynamics?
Speakers
Organizers
Vijay Kumar
kumar@seas.upenn.edu
University of Pennsylvania
Giuseppe Loianno
loiannog@seas.upenn.edu
University of Pennsylvania
