January 31, 2022 Journal article Open Access

Rodriguez-Gomez, Juan Pablo; Tapia, Raul; Guzman, Maria del Mar; Martinez de-Dios, Jose Ramiro; Ollero, Anibal

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  <identifier identifierType="DOI">10.5281/zenodo.5924071</identifier>
  <creators>
    <creator>
      <creatorName>Rodriguez-Gomez, Juan Pablo</creatorName>
      <givenName>Juan Pablo</givenName>
      <familyName>Rodriguez-Gomez</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-7628-1660</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Tapia, Raul</creatorName>
      <givenName>Raul</givenName>
      <familyName>Tapia</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-4435-5466</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Guzman, Maria del Mar</creatorName>
      <givenName>Maria del Mar</givenName>
      <familyName>Guzman</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-6618-0663</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Martinez de-Dios, Jose Ramiro</creatorName>
      <givenName>Jose Ramiro</givenName>
      <familyName>Martinez de-Dios</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-9431-7831</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Ollero, Anibal</creatorName>
      <givenName>Anibal</givenName>
      <familyName>Ollero</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2155-2472</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Free as a Bird:  Event-based Dynamic Sense-and-Avoid for Ornithopter Robot Flight</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2022</publicationYear>
  <subjects>
    <subject>event camera, ornithopter, flapping-wing robot, reactive sense-and-avoid.</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2022-01-31</date>
  </dates>
  <resourceType resourceTypeGeneral="JournalArticle"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/5924071</alternateIdentifier>
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  <version>1</version>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This paper presents a fully onboard dynamic sense-and-avoid scheme for large-scale ornithopters using event cameras. These sensors trigger pixel information due to changes of illumination in the scene such as those produced by dynamic objects. The method performs event-by-event processing in low-cost hardware such as those onboard small aerial vehicles. The proposed scheme detects obstacles and evaluates possible collisions with the robot body. The onboard controller actuates over the horizontal and vertical tail deflections to execute the avoidance maneuver. The scheme is validated in both indoor and outdoor scenarios using obstacles of different shapes and sizes. To the best of the authors&amp;#39; knowledge, this is the first event-based method for dynamic obstacle avoidance in a flapping-wing robot.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/871479/">871479</awardNumber>
      <awardTitle>AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
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