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Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms

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Book cover Robotics Research

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 10))

Abstract

Visual navigation, mapping, obstacle avoidance and autonomous operation are becoming increasingly commercially available in flying robots. Recent research in control of flying robots has therefore shifted beyond sensor based trajectory tracking towards physical interaction and manipulation control. However, current research mainly focuses on specialized interaction cases under indoor or hovering conditions. Furthermore, the problem of physical interaction control for entire robot swarms operating under different control objectives is essentially unexplored terrain, as is the systematic treatment of disturbances and faults for both single and swarm systems, respectively. In this position paper, we argue that robust operation of interacting flying robots requires systematic handling of interactions and external inputs such as faults from individual robot to swarm level. For this, we introduce a scalable awareness methodology for interaction, disturbance and fault handling resulting in the awareness pipeline scheme. Another algorithmic key element for unification is the extension of well established methods from operational space and multipriority robot control to this system class, potentially leading to novel controls and skills of flying robot swarms.

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Author information

Authors and Affiliations

  1. Skydio, 114 Hazel Ave, Redwood City, CA, 94061, USA

    Teodor Tomić

  2. Chair of Robotics and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM), Heßstr. 134, 80797, Munich, Germany

    Sami Haddadin

Authors
  1. Teodor Tomić
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  2. Sami Haddadin
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Corresponding author

Correspondence to Teodor Tomić .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL, USA

    Nancy M. Amato

  2. Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA

    Greg Hager

  3. Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

    Shawna Thomas

  4. Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Santiago, Chile

    Miguel Torres-Torriti

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Tomić, T., Haddadin, S. (2020). Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. In: Amato, N., Hager, G., Thomas, S., Torres-Torriti, M. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-030-28619-4_19

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