{"id":741,"date":"2015-09-12T12:01:28","date_gmt":"2015-09-12T16:01:28","guid":{"rendered":"https:\/\/sites.bu.edu\/msl\/?page_id=741"},"modified":"2015-09-18T23:49:10","modified_gmt":"2015-09-19T03:49:10","slug":"vrb-obstacles","status":"publish","type":"page","link":"https:\/\/sites.bu.edu\/msl\/vrb-obstacles\/","title":{"rendered":"Assistive Collision Avoidance for Quadrotor Swarm Teleoperation"},"content":{"rendered":"<p>This paper presents a method for controlling\u00a0quadrotor swarms in an environment with obstacles, with an\u00a0intuitive human-swarm interface operated by a single human\u00a0user. Our method allows for the quadrotor swarm to maintain\u00a0a desired formation, while also keeping the quadrotors a safe\u00a0distance from obstacles and from one another. We use a Virtual\u00a0Rigid Body abstraction to provide a bridge between the single\u00a0human user and the quadrotor swarm, so that a human user can\u00a0fly an arbitrarily large quadrotor swarm from a single joystick.\u00a0By applying multiple vector fields, collisions are automatically\u00a0avoided within the swarm of quadrotors, and between the\u00a0quadrotors and obstacles, while the Virtual Rigid Body is\u00a0controlled by the human user. Our method is demonstrated in\u00a0hardware experiments with groups of quadrotor micro aerial\u00a0vehicles teleoperated by a single human operator in a motion\u00a0capture system.<\/p>\n<p>(Submitted to ICRA 2016)<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"316\" src=\"https:\/\/www.youtube.com\/embed\/Rbto5YXM2Xk?rel=0\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>This paper presents a method for controlling\u00a0quadrotor swarms in an environment with obstacles, with an\u00a0intuitive human-swarm interface operated by a single human\u00a0user. Our method allows for the quadrotor swarm to maintain\u00a0a desired formation, while also keeping the quadrotors a safe\u00a0distance from obstacles and from one another. We use a Virtual\u00a0Rigid Body abstraction to provide a [&hellip;]<\/p>\n","protected":false},"author":8197,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/741"}],"collection":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/users\/8197"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/comments?post=741"}],"version-history":[{"count":10,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/741\/revisions"}],"predecessor-version":[{"id":759,"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/pages\/741\/revisions\/759"}],"wp:attachment":[{"href":"https:\/\/sites.bu.edu\/msl\/wp-json\/wp\/v2\/media?parent=741"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}