Abstract | ||
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Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural network-based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)-accelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural network-based controllers. Our demonstrators include trajectory tracking at up to 5g and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research. |
Year | DOI | Venue |
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2022 | 10.1126/scirobotics.abl6259 | SCIENCE ROBOTICS |
DocType | Volume | Issue |
Journal | 7 | 67 |
ISSN | Citations | PageRank |
2470-9476 | 0 | 0.34 |
References | Authors | |
0 | 11 |
Name | Order | Citations | PageRank |
---|---|---|---|
Philipp Foehn | 1 | 10 | 2.88 |
Elia Kaufmann | 2 | 14 | 5.03 |
Angel Romero | 3 | 0 | 0.34 |
Robert Penicka | 4 | 33 | 8.06 |
Sihao Sun | 5 | 0 | 0.34 |
Leonard Bauersfeld | 6 | 1 | 1.38 |
Thomas Laengle | 7 | 0 | 0.34 |
Giovanni Cioffi | 8 | 0 | 0.34 |
Yunlong Song | 9 | 0 | 2.70 |
Antonio Loquercio | 10 | 58 | 5.43 |
Davide Scaramuzza | 11 | 2704 | 154.51 |