Name
Title | ||
|---|---|---|
Monocular Reactive Collision Avoidance Based on Force Fields for Enhancing the Teleoperation of MAVs |
Abstract | ||
|---|---|---|
The teleoperation of aerial vehicles can be onerous for naive operators unless the robot is endowed with some autonomy, including sense-and-avoid capabilities. This ensures a safe and smooth navigation even in case of users' lack of experience or distraction. In this paper, we propose a reactive collision avoidance strategy that allows a micro aerial vehicle (MAV) to autonomously avoid obstacles while being steered by an operator. We assume that the only available measurements come from an onboard RGB camera and we adopt a collision avoidance strategy based on virtual force fields. A U-Net is used to estimate the depth map starting from RGB images. Simulations conducted in several different outdoor environments validate the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICAR53236.2021.9659337 | 2021 20th International Conference on Advanced Robotics (ICAR) |
DocType | ISBN | Citations |
Conference | 978-1-6654-3685-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Raffaele Brilli | 1 | 0 | 0.34 |
| Maria Pozzi | 2 | 0 | 0.68 |
| Folco Giorgetti | 3 | 0 | 0.34 |
| Mario Luca Fravolini | 4 | 0 | 0.34 |
| Paolo Valigi | 5 | 165 | 25.12 |
| Domenico Prattichizzo | 6 | 0 | 0.34 |
| Gabriele Costante | 7 | 0 | 0.34 |