000142983 001__ 142983
000142983 005__ 20190331192709.0
000142983 020__ $$a978-1-4244-5038-1
000142983 0247_ $$2doi$$a10.1109/ROBOT.2010.5509338
000142983 02470 $$2ISI$$a000284150001069
000142983 037__ $$aCONF
000142983 245__ $$aAn Indoor Flying Platform with Collision Robustness and Self-Recovery
000142983 269__ $$a2010
000142983 260__ $$bIEEE$$c2010
000142983 336__ $$aConference Papers
000142983 500__ $$aairburr
000142983 520__ $$aThis paper presents a new paradigm in the design of indoor flying robots that replaces collision avoidance with collision robustness. Indoor flying robots must operate within constrained and cluttered environments where even nature’s most sophisticated flyers such as insects cannot avoid all obsta- cles and should thus be able to withstand collisions and recover from them autonomously. A prototype platform specifically designed to withstand collisions and recover without human intervention is presented. An optimization algorithm used for its dimensioning is proposed followed by new construction techniques focusing on shock absorption. Finally, the platform is tested both in-flight and during collisions to characterize its collision robustness and self- recovery capability.
000142983 6531_ $$aAerospace Robotics
000142983 6531_ $$aCollision Avoidance
000142983 6531_ $$aMobile Robots
000142983 6531_ $$aSelf-adjusting Systems
000142983 6531_ $$aAerodynamics
000142983 6531_ $$aCollision Robustness
000142983 6531_ $$aIndoor Flying Robot
000142983 6531_ $$aSelf-recovery Capability
000142983 6531_ $$aShock Absorption
000142983 6531_ $$aAerial Robotics
000142983 700__ $$0243226$$g167695$$aKlaptocz, Adam
000142983 700__ $$aBoutinard Rouelle, Grégoire
000142983 700__ $$0243231$$g166588$$aBriod, Adrien
000142983 700__ $$g104340$$0240674$$aZufferey, Jean-Christophe
000142983 700__ $$aFloreano, Dario$$0240742$$g111729
000142983 7112_ $$dMay 3-8, 2010$$cAnchorage, Alaska, US$$a2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
000142983 773__ $$tProceedings of the IEEE International Conference on Robotics and Automation (ICRA)$$q3349-3354
000142983 8564_ $$uhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5509338$$zURL
000142983 8564_ $$uhttps://infoscience.epfl.ch/record/142983/files/ICRA2010%20-%20An%20Indoor%20Flying%20Platform%20with%20Collision%20Robustness%20and%20Self-Recovery.pdf$$zn/a$$s1778398
000142983 8564_ $$uhttps://infoscience.epfl.ch/record/142983/files/KlaptoczICRA2010.mp4$$zn/a$$s40908875
000142983 909C0 $$xU10370$$0252161$$pLIS
000142983 909CO $$ooai:infoscience.tind.io:142983$$qGLOBAL_SET$$pconf$$pSTI
000142983 917Z8 $$x167695
000142983 917Z8 $$x166588
000142983 917Z8 $$x166588
000142983 917Z8 $$x167695
000142983 917Z8 $$x166588
000142983 917Z8 $$x255330
000142983 937__ $$aLIS-CONF-2010-001
000142983 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000142983 980__ $$aCONF