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Safety-Critical Rapid Aerial Exploration of Unknown Environments

Singletary, Andrew and Gurriet, Thomas and Nilsson, Petter and Ames, Aaron D. (2020) Safety-Critical Rapid Aerial Exploration of Unknown Environments. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 10270-10276. ISBN 9781728173955.

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This paper details a novel approach to collision avoidance for aerial vehicles that enables high-speed flight in uncertain environments. This framework is applied at the controller level and provides safety regardless of the planner that is used. The method is shown to be robust to state uncertainty and disturbances, and is computed entirely online utilizing the full nonlinear system dynamics. The effectiveness of this method is shown in a high-fidelity simulation of a quadrotor with onboard sensors rapidly and safely exploring a cave environment utilizing a simple planner.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Singletary, Andrew0000-0001-6635-4256
Gurriet, Thomas0000-0002-5240-3720
Nilsson, Petter0000-0001-8748-6936
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE.
Record Number:CaltechAUTHORS:20200923-151400682
Persistent URL:
Official Citation:A. Singletary, T. Gurriet, P. Nilsson and A. D. Ames, "Safety-Critical Rapid Aerial Exploration of Unknown Environments," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 10270-10276, doi: 10.1109/ICRA40945.2020.9197416
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:105510
Deposited By: Tony Diaz
Deposited On:23 Sep 2020 22:27
Last Modified:16 Nov 2021 18:43

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