Agilicious : Open-source and open-hardware agile quadrotor for vision-based flight
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.
| Medienart: |
E-Artikel |
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| Erscheinungsjahr: |
2022 |
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| Erschienen: |
2022 |
| Enthalten in: |
Zur Gesamtaufnahme - volume:7 |
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| Enthalten in: |
Science robotics - 7(2022), 67 vom: 22. Juni, Seite eabl6259 |
| Sprache: |
Englisch |
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| Beteiligte Personen: |
Foehn, Philipp [VerfasserIn] |
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| Links: |
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| Anmerkungen: |
Date Completed 24.06.2022 Date Revised 19.07.2022 published: Print-Electronic Citation Status MEDLINE |
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| doi: |
10.1126/scirobotics.abl6259 |
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| funding: |
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| Förderinstitution / Projekttitel: |
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| 520 | |a 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 | ||
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| 650 | 4 | |a Research Support, Non-U.S. Gov't | |
| 700 | 1 | |a Kaufmann, Elia |e verfasserin |4 aut | |
| 700 | 1 | |a Romero, Angel |e verfasserin |4 aut | |
| 700 | 1 | |a Penicka, Robert |e verfasserin |4 aut | |
| 700 | 1 | |a Sun, Sihao |e verfasserin |4 aut | |
| 700 | 1 | |a Bauersfeld, Leonard |e verfasserin |4 aut | |
| 700 | 1 | |a Laengle, Thomas |e verfasserin |4 aut | |
| 700 | 1 | |a Cioffi, Giovanni |e verfasserin |4 aut | |
| 700 | 1 | |a Song, Yunlong |e verfasserin |4 aut | |
| 700 | 1 | |a Loquercio, Antonio |e verfasserin |4 aut | |
| 700 | 1 | |a Scaramuzza, Davide |e verfasserin |4 aut | |
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