3 accepted papers
Haptic feedback in teleoperation of flying robots can enable safe flight in unknown and densely cluttered environments. It is typically part of the robot's control scheme and used to aid navigation and collision avoidance via artificial force fields displayed to the operator. However, to achieve ful…
We consider the problem of estimating the wind velocity perceived by a flying multicopter, from data acquired by onboard sensors and knowledge of its aerodynamics model only. We employ two complementary methods. The first is based on the estimation of the external wrench (force and torque) due to ae…
In this paper, we extend our previous external wrench estimation scheme for flying robots with an aerodynamic model such that we are able to simultaneously estimate aerodynamic and contact forces online. This information can be used to identify the metric wind velocity vector via model inversion. No…