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Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Bouman, Amanda and Nadan, Paul and Anderson, Matthew and Pastor, Daniel and Izraelevitz, Jacob and Burdick, Joel and Kennedy, Brett (2020) Design and Autonomous Stabilization of a Ballistically-Launched Multirotor. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 8511-8517. ISBN 9781728173955. https://resolver.caltech.edu/CaltechAUTHORS:20200923-141642762

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Abstract

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/icra40945.2020.9197542DOIArticle
https://arxiv.org/abs/1911.10269arXivDiscussion Paper
Additional Information:© 2020 IEEE. This research was funded by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. This research was also developed with funding from the Defense Advanced Research Projects Agency (DARPA). The authors also thank Marcel Veismann, Andrew Ricci, and Robert Hewitt.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechAUTHORS:20200923-141642762
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200923-141642762
Official Citation:A. Bouman et al., "Design and Autonomous Stabilization of a Ballistically-Launched Multirotor," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 8511-8517, doi: 10.1109/ICRA40945.2020.9197542
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:105505
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:23 Sep 2020 21:25
Last Modified:23 Sep 2020 21:25

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