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Design of a Ballistically-Launched Foldable Multirotor

Pastor, Daniel and Izraelevitz, Jacob and Nadan, Paul and Bouman, Amanda and Burdick, Joel and Kennedy, Brett (2019) Design of a Ballistically-Launched Foldable Multirotor. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5212-5218. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20200131-084051738

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Abstract

The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor’s range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept multirotor aircraft has been developed, capable of transitioning from a ballistic launch configuration to a fully controllable flight configuration in midair after launch. The transition is accomplished via passive unfolding of the multirotor arms, triggered by a nichrome burn wire release mechanism. The design is 3D printable, launches from a three-inch diameter barrel, and has sufficient thrust to carry a significant payload. The system has been fabricated and field tested from a moving vehicle up to 50mph to successfully demonstrate the feasibility of the concept and experimentally validate the design’s aerodynamic stability and deployment reliability.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS40897.2019.8968549DOIArticle
https://arxiv.org/abs/1911.05639arXivDiscussion Paper
https://youtu.be/sQuKJfllyRMRelated ItemVideos of the experiments
Additional Information:© 2019 IEEE. The research described in this paper was performed by the California Institute of Technology and the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration with funding provided by the DARPA Mobile Force Protection Program. The authors thank Andrew Ricci, Anushri Dixit, Carl Folkestad, Joe Jordan and Reza Nemovi for their support during field testing.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechAUTHORS:20200131-084051738
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200131-084051738
Official Citation:D. Pastor, J. Izraelevitz, P. Nadan, A. Bouman, J. Burdick and B. Kennedy, "Design of a Ballistically-Launched Foldable Multirotor," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 5212-5218. doi: 10.1109/IROS40897.2019.8968549
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101029
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 17:48
Last Modified:31 Jan 2020 17:48

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