Design and Autonomous Stabilization of a Ballistically-Launched Multirotor
Amanda Bouman, Paul Nadan, Matthew Anderson, Daniel Pastor, Jacob Izraelevitz, Joel Burdick, Brett Kennedy
Abstract
Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor's ability to autonomously stabilize after a ballistic launch in a GPS-denied environment.
BibTeX
@inproceedings{icra2020_designandautonom,
title = {Design and Autonomous Stabilization of a Ballistically-Launched Multirotor},
author = {Amanda Bouman and Paul Nadan and Matthew Anderson and Daniel Pastor and Jacob Izraelevitz and Joel Burdick and Brett Kennedy},
booktitle = {ICRA 2020},
year = {2020}
}