Matches in SemOpenAlex for { <https://semopenalex.org/work/W3192948113> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W3192948113 endingPage "7877" @default.
- W3192948113 startingPage "7877" @default.
- W3192948113 abstract "We present an autonomous quadrotor capable of safely landing on sloped surfaces up to 40 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>°</sup> , intended for emergency scenarios where the only terrain available for landing may be sloped. This system uses a downward-facing depth perception system to determine the direction, angle, and smoothness of the slope. Two robotic landing skids of different lengths actively conform to the slope in order to maintain level body attitude upon landing. We developed an analytical model to design leg lengths, conform to the slope surface angle, and ensure both zero tilt angle of the quadrotor body and clearance of the propellers from the surface. The selection of skid angles is framed as an optimization to match the slope angle while maximizing the buffer between the propellers and the surface. An eigenvalue decomposition of the point cloud covariance matrix provides a surface normal vector, which is used to determine the proper skid angle and yaw angle of the quadrotor. The ratio of the eigenvalues is used to determine whether the surface is sufficiently smooth for safe landing. The proposed system and method were validated in a motion capture environment by conducting five autonomous takeoff and land missions over different sloped surfaces ranging from 0 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>°</sup> to 40 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>°</sup> . The detected slope angle and direction of all trials were within 1 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>°</sup> and 3.3 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>°</sup> , respectively, of ground truth. No failures or crashes occurred during testing, which demonstrates the viability and robustness of this system for use in real-world scenarios." @default.
- W3192948113 created "2021-08-16" @default.
- W3192948113 creator A5008647507 @default.
- W3192948113 creator A5029166980 @default.
- W3192948113 creator A5030814682 @default.
- W3192948113 creator A5042266518 @default.
- W3192948113 creator A5051376632 @default.
- W3192948113 date "2021-10-01" @default.
- W3192948113 modified "2023-09-25" @default.
- W3192948113 title "Autonomous Quadrotor Landing on Inclined Surfaces Using Perception-Guided Active Asymmetric Skids" @default.
- W3192948113 cites W1602540331 @default.
- W3192948113 cites W2036613575 @default.
- W3192948113 cites W2049492608 @default.
- W3192948113 cites W2396584467 @default.
- W3192948113 cites W2463793248 @default.
- W3192948113 cites W2582222835 @default.
- W3192948113 cites W2608018532 @default.
- W3192948113 cites W2765891159 @default.
- W3192948113 cites W2803185511 @default.
- W3192948113 cites W2890494810 @default.
- W3192948113 cites W2974823253 @default.
- W3192948113 cites W3043708377 @default.
- W3192948113 cites W4243008427 @default.
- W3192948113 cites W4246614653 @default.
- W3192948113 doi "https://doi.org/10.1109/lra.2021.3101869" @default.
- W3192948113 hasPublicationYear "2021" @default.
- W3192948113 type Work @default.
- W3192948113 sameAs 3192948113 @default.
- W3192948113 citedByCount "1" @default.
- W3192948113 countsByYear W31929481132022 @default.
- W3192948113 crossrefType "journal-article" @default.
- W3192948113 hasAuthorship W3192948113A5008647507 @default.
- W3192948113 hasAuthorship W3192948113A5029166980 @default.
- W3192948113 hasAuthorship W3192948113A5030814682 @default.
- W3192948113 hasAuthorship W3192948113A5042266518 @default.
- W3192948113 hasAuthorship W3192948113A5051376632 @default.
- W3192948113 hasConcept C127413603 @default.
- W3192948113 hasConcept C13393347 @default.
- W3192948113 hasConcept C146160929 @default.
- W3192948113 hasConcept C146978453 @default.
- W3192948113 hasConcept C154945302 @default.
- W3192948113 hasConcept C161840515 @default.
- W3192948113 hasConcept C166957645 @default.
- W3192948113 hasConcept C18903297 @default.
- W3192948113 hasConcept C2524010 @default.
- W3192948113 hasConcept C2775924081 @default.
- W3192948113 hasConcept C2776799497 @default.
- W3192948113 hasConcept C2779860262 @default.
- W3192948113 hasConcept C33923547 @default.
- W3192948113 hasConcept C41008148 @default.
- W3192948113 hasConcept C44154836 @default.
- W3192948113 hasConcept C47446073 @default.
- W3192948113 hasConcept C527307 @default.
- W3192948113 hasConcept C78519656 @default.
- W3192948113 hasConcept C86803240 @default.
- W3192948113 hasConcept C94296324 @default.
- W3192948113 hasConcept C95457728 @default.
- W3192948113 hasConceptScore W3192948113C127413603 @default.
- W3192948113 hasConceptScore W3192948113C13393347 @default.
- W3192948113 hasConceptScore W3192948113C146160929 @default.
- W3192948113 hasConceptScore W3192948113C146978453 @default.
- W3192948113 hasConceptScore W3192948113C154945302 @default.
- W3192948113 hasConceptScore W3192948113C161840515 @default.
- W3192948113 hasConceptScore W3192948113C166957645 @default.
- W3192948113 hasConceptScore W3192948113C18903297 @default.
- W3192948113 hasConceptScore W3192948113C2524010 @default.
- W3192948113 hasConceptScore W3192948113C2775924081 @default.
- W3192948113 hasConceptScore W3192948113C2776799497 @default.
- W3192948113 hasConceptScore W3192948113C2779860262 @default.
- W3192948113 hasConceptScore W3192948113C33923547 @default.
- W3192948113 hasConceptScore W3192948113C41008148 @default.
- W3192948113 hasConceptScore W3192948113C44154836 @default.
- W3192948113 hasConceptScore W3192948113C47446073 @default.
- W3192948113 hasConceptScore W3192948113C527307 @default.
- W3192948113 hasConceptScore W3192948113C78519656 @default.
- W3192948113 hasConceptScore W3192948113C86803240 @default.
- W3192948113 hasConceptScore W3192948113C94296324 @default.
- W3192948113 hasConceptScore W3192948113C95457728 @default.
- W3192948113 hasFunder F4320338295 @default.
- W3192948113 hasIssue "4" @default.
- W3192948113 hasLocation W31929481131 @default.
- W3192948113 hasOpenAccess W3192948113 @default.
- W3192948113 hasPrimaryLocation W31929481131 @default.
- W3192948113 hasRelatedWork W179872346 @default.
- W3192948113 hasRelatedWork W2103156180 @default.
- W3192948113 hasRelatedWork W2136317410 @default.
- W3192948113 hasRelatedWork W2258616274 @default.
- W3192948113 hasRelatedWork W2320613420 @default.
- W3192948113 hasRelatedWork W2745423279 @default.
- W3192948113 hasRelatedWork W2782840524 @default.
- W3192948113 hasRelatedWork W2791279247 @default.
- W3192948113 hasRelatedWork W3192948113 @default.
- W3192948113 hasRelatedWork W3217504360 @default.
- W3192948113 hasVolume "6" @default.
- W3192948113 isParatext "false" @default.
- W3192948113 isRetracted "false" @default.
- W3192948113 magId "3192948113" @default.
- W3192948113 workType "article" @default.