Published August 2020
| Accepted Version
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Design and Autonomous Stabilization of a Ballistically-Launched Multirotor
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.
Additional Information
© 2020 IEEE. This research was funded by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. This research was also developed with funding from the Defense Advanced Research Projects Agency (DARPA). The authors also thank Marcel Veismann, Andrew Ricci, and Robert Hewitt.Attached Files
Accepted Version - 1911.10269.pdf
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Additional details
- Eprint ID
- 105505
- DOI
- 10.1109/icra40945.2020.9197542
- Resolver ID
- CaltechAUTHORS:20200923-141642762
- NASA/JPL/Caltech
- Defense Advanced Research Projects Agency (DARPA)
- Created
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2020-09-23Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field