Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle

DOI10.5220/0007838900510060arXiv1906.06515MaRDI QIDQ6180877FDOQ6180877

Authors: Thomas Chaffre, Sylvain Bertrand, Lionel Prevost 

Publication date: 2 January 2024

Published in: Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Abstract: In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the initial positioning of the MAV with respect to the wall and to deal with walls composed of multiple segments. This method is based on an online estimation algorithm that makes use of information of physical contacts detected by the drone during the flight to improve the positioning accuracy of the painted dots. Simulation results are presented to assess quantitatively the efficiency of the proposed approaches.

Full work available at URL: https://arxiv.org/abs/1906.06515

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zbMATH Keywords

aerial roboticscontact based navigationdot-painting

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Cited In (1)

• An Experimental Study for the Contactless Manipulation of Single Object in Vertical Plane Using Multiple Air Jets

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