Automatic collision avoidance for manually tele-operated unmanned aerial vehicles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 6638-6643

  Israelsen, Jason ^a   Beall, Matt ^a   Bareiss, Daman ^a   Stuart, Daniel ^a   Keeney, Eric ^a   Van Den Berg, Jur ^a  

^a Department of Electrical and Computer Engineering   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANTENNAS; COLLISION AVOIDANCE; PERSONNEL; UNMANNED AERIAL VEHICLES (UAV);

CONTROL INPUTS; CURRENT OPERATORS; DIRECTION OF MOTION; HUMAN OPERATOR; LABORATORY ENVIRONMENT; OPERATOR CONTROL; QUADROTOR SYSTEMS; TELEOPERATED;

ACCIDENTS;

EID: 84924564408     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907839     Document Type: Conference Paper

References (33)

1. J. Roberts, T. Stirling, J.-C. Zufferey, and D. Floreano, "Quadrotor using minimal sensing for autonomous indoor flight, " in Proc. of the European Micro Air Vehicle Conference and Flight Competition, 2007.
2. R. He, S. Prentice, and N. Roy, "Planning in information space for a quadrotor helicopter in a gps-denied environment, " in Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, 2008, pp. 1814-1820.
3. J. Mendes and R. Ventura, "Assisted teleoperation of quadcopters using obstacle avoidance, " Journal of Automation, Mobile Robotics &Intelligent Systems, vol. 7, no. 1, 2013.
4. L. Hull, "Drone makes first uk arrest as police catch car thief hiding under bushes, " Daily Mail, vol. 12, 2010.
5. A. Vahidi and A. Eskandarian, "Research advances in intelligent collision avoidance and adaptive cruise control, " Intelligent Transportation Systems, IEEE Transactions on, vol. 4, no. 3, pp. 143-153, 2003.
6. O. Gietelink, J. Ploeg, B. De Schutter, and M. Verhaegen, "Development of advanced driver assistance systems with vehicle hardware-inthe-loop simulations, " Vehicle System Dynamics, vol. 44, no. 7, pp. 569-590, 2006.
7. J. C. McCall and M. M. Trivedi, "Driver behavior and situation aware brake assistance for intelligent vehicles, " Proceedings of the IEEE, vol. 95, no. 2, pp. 374-387, 2007.
8. J. Cao, H. Liu, P. Li, and D. J. Brown, "State of the art in vehicle active suspension adaptive control systems based on intelligent methodologies, " Intelligent Transportation Systems, IEEE Transactions on, vol. 9, no. 3, pp. 392-405, 2008.
9. L. B. Rosenberg, "Virtual fixtures: Perceptual tools for telerobotic manipulation, " in Virtual Reality Annual International Symposium, 1993., 1993 IEEE, 1993, pp. 76-82.
10. P. Marayong, M. Li, A. M. Okamura, and G. D. Hager, "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures, " in Robotics and Automation (ICRA), 2003 IEEE International Conference on, vol. 2, 2003, pp. 1954-1959.
11. A. Bettini, P. Marayong, S. Lang, A. M. Okamura, and G. D. Hager, "Vision-Assisted control for manipulation using virtual fixtures, " Robotics, IEEE Transactions on, vol. 20, no. 6, pp. 953-966, 2004.
12. M. Dewan, P. Marayong, A. M. Okamura, and G. D. Hager, "Visionbased assistance for ophthalmic micro-surgery, " in Proc. Medical Image Computing and Computer-Assisted Intervention, 2004, pp. 49-57.
13. J. J. Abbott, P. Marayong, and A. M. Okamura, "Haptic virtual fixtures for robot-Assisted manipulation, " in Proc. Int. Symp. on Robotics Research, 2007, pp. 49-64.
14. T. L. Gibo, L. N. Verner, D. D. Yuh, and A. M. Okamura, "Design considerations and human-machine performance of moving virtual fixtures, " in Robotics and Automation, 2009. ICRA09. IEEE International Conference on, 2009, pp. 671-676.
15. S. Thrun, M. Diel, and D. Hahnel, "Scan alignment and 3-d surface modeling with a helicopter platform, " in Field and Service Robotics, 2006, pp. 287-297.
16. A. Bry, A. Bachrach, and N. Roy, "State estimation for aggressive flight in gps-denied environments using onboard sensing, " in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), St Paul, MN, 2012.
17. O. Khatib, "Real-Time obstacle avoidance for manipulators and mobile robots, " The International Journal of Robotics Research, vol. 5, no. 1, pp. 90-98, 1986.
18. J. Borenstein and Y. Koren, "Real-Time obstacle avoidance for fast mobile robots, " IEEE Trans. on Systems, Man, and Cybernetics, vol. 19, pp. 1179-1187, 1989.
19. M. Nieuwenhuisen, D. Droeschel, J. Schneider, D. Holz, T. Labe, and S. Behnke, "Multimodal obstacle detection and collision avoidance for micro aerial vehicles, " in Mobile Robots (ECMR), 2013 European Conference on. IEEE, 2013, pp. 7-12.
20. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance, " IEEE Robotics and Automation Magazine, vol. 4, no. 1, pp. 23-33, 1997.
21. P. Saranrittichai, N. Niparnan, and A. Sudsang, "Robust local obstacle avoidance for mobile robot based on dynamic window approach, " in Int. Conf. on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2013.
22. P. Fiorini and Z. Shiller, "Motion planning in dynamic environments using velocity obstacles, " The International Journal of Robotics Research, vol. 17, no. 7, pp. 760-772, 1998.
23. D. Claes, D. Hennes, K. Tuyls, and W. Meeussen, "Collision avoidance under bounded localization uncertainty, " in IEEE Int. Conf. on Intelligent Robots and Systems, 2012.
24. J. van den Berg, D. Wilkie, S. J. Guy, M. Niethammer, and D. Manocha, "Lqg-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty, " in Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012, pp. 346-353.
25. T. Fraichard and H. Asama, "Inevitable collision states. A step towards safer robots?" in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, vol. 1, 2003, pp. 388-393.
26. G. Ducard and R. DAndrea, "Autonomous quadrotor flight using a vision system and accommodating frames misalignment, " in Industrial embedded systems, 2009. SIES09. IEEE international symposium on, 2009, pp. 261-264.
27. S. Grzonka, G. Grisetti, and W. Burgard, "Towards a navigation system for autonomous indoor flying, " in Robotics and Automation, 2009. ICRA09. IEEE International Conference on, 2009, pp. 2878-2883.
28. D. Bareiss and J. van den Berg, "Reciprocal collision avoidance for robots with linear dynamics using lqr-obstacles, " in IEEE Int. Conf. Robotics and Automation, 2013.
29. D. Mellinger, A. Kushleyev, and V. Kumar, "Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams, " in Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012, pp. 477-483.
30. A. M. Brandt and M. B. Colton, "Haptic collision avoidance for a remotely operated quadrotor uav in indoor environments, " in Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on, 2010, pp. 2724-2731.
31. M. De Berg, O. Cheong, M. van Kreveld, and M. Overmars, Computational Geometry: Algorithms and Applications. Springer, 2008.
32. T. Möller and B. Trumbore, "Fast, minimum storage ray-Triangle intersection, " Journal of graphics tools, vol. 2, no. 1, pp. 21-28, 1997.
33. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (slam) problem, " Robotics and Automation, IEEE Transactions on, vol. 17, no. 3, pp. 229-241, 2001.