ドローン研究 アカデミア まとめ

目次

University of Pennsylvania, GRASP lab

• HP
  • GRASP lab | general robotics, automation, sensing & perception laboratory at Penn
• Professor
  • Vijay Kumar
  • Google Scholar https://scholar.google.com/citations?user=FUOEBDUAAAAJ&hl=en
• 最近の傾向
  • FLAで統合系を頑張りつつ、そこが一息ついて、引き続き姿勢推定やセンサーフュージョンで認識精度向上などの基礎研究をさらにパワーアップさせつつ、ICRA2019ではフォーメーション系の研究も目立っていた
• Paper
  • Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements
    • ICRA2019
    • Dense Depthを作るためにステレオカメラの情報をLIDARでdepth精度補正する
  • Inertial Yaw-Independent Velocity and Attitude Estimation for High Speed Quadrotor Flight
    • ICRA2019
    • 姿勢推定の改善
  • Online Estimation of Geometric and Inertia Parameters for Multirotor Aerial Vehicles
    • ICRA2019
    • 質量・慣性のオンライン推定
    • マルチローターの慣性モーメント、質量、重心、および各センサーモジュールの相対位置を推定することができます。飛行中にこれらの推定値を取得することで、積荷輸送などの作業中や現場での構成変更後でも、マルチローターを正確に制御できます
  • The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
    • ICRA2019
    • first authorはOSRF. 一方で他メンバーはほとんどGRASP.
  • Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
    • Journal of Field Robotics 2018(published at 2017/12)
    • DARPA-FLAのシステム全体の話
  • Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments
    • RA-L2017
  • High Speed Navigation For Quadrotors With Limited Onboard Sensing
    • ICRA2016
  • Minimum Snap Trajectory Generation and Control for Quadrotors
    • ICRA2011

MIT, Robot Locomotion Group within CSAIL

• HP
  • http://groups.csail.mit.edu/locomotion/index.html
• Professor
  • Russ Tedrake
  • Google Scholar https://scholar.google.com/citations?hl=en&user=nxNkEiYAAAAJ
  • Toyota Professor, TRI
  • 2017/5
    • https://www.eecs.mit.edu/news-events/announcements/russ-tedrake-named-inaugural-toyota-professorship
• 最近の動向
  • ICRA2019ではドローン系の話はなし
    • Deep Learning系, 制御系の話で５件投稿あり
• Paper
  • NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search Over Local 3D Data,
    • ICRA2018
    • first author = Peter R. Florence
      • google scholar = https://scholar.google.es/citations?hl=en&user=YfPA4YsAAAAJ&view_op=list_works&sortby=pubdate

MIT, Robust Robotics Group within CSAIL

• HP
  • http://groups.csail.mit.edu/rrg/
• Professor
  • Nicholas Roy
  • Google Scholar https://scholar.google.com/citations?hl=en&user=aM3i_9oAAAAJ
• 最近の動向
  • ICRA2019では３件投稿あり
• Paper
  • Robust Object-Based SLAM for High-Speed Autonomous Navigation
    • ICRA2019
    • オブジェクトベースの地図生成手法に関する
  • Efficient Trajectory Planning for High Speed Flight in Unknown Environments
    • ICRA2019
    • first author = Markus Ryll, PH.D
      • http://markusryll.com/
    • google scholar = https://scholar.google.com/citations?hl=en&user=73DTd6EAAAAJ&view_op=list_works&sortby=pubdate
• Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
  • https://dspace.mit.edu/bitstream/handle/1721.1/106840/Roy_Polynomial%20trajectory.pdf?sequence=1&isAllowed=y
  • ISRR2013

ETH, Robotics and Perception Group

• HP
  • rpg.ifi.uzh.ch
• Professor
  • Davide Scaramuzza
  • Google Scholar https://scholar.google.com/citations?hl=en&user=SC9wV2kAAAAJ
• 最近の動向
  • ICRA2019では５件投稿あり。
• Paper
  • Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing
    • ICRA2019
  • Event-Based, Direct Camera Tracking from a Photometric 3D Map Using Nonlinear Optimization
    • ICRA2019
  • The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly
    • ICRA2019
  • Beyond Point Clouds: Fisher Information Field for Active Visual Localization
    • ICRA2019
  • Are We Ready for Autonomous Drone Racing? the UZH-FPV Drone Racing Dataset
    • ICRA2019
  • Deep Drone Racing: Learning Agile Flight in Dynamic Environments
    • CoRL2018, Best systems paper awards

ETH, Autonomous Systems Lab

• HP
  • https://asl.ethz.ch/
• Professor
  • Roland Siegwart
• 最近の動向
  • ICRA2019では12件投稿あり。
• Paper
  • Continuous-Time Trajectory Optimization for Online UAV Replanning
    • IROS2016
    • first author = Helen Oleynikova
      • google scholar = https://scholar.google.es/citations?hl=en&user=aeJGZxIAAAAJ&view_op=list_works&sortby=pubdate
  • Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments
    • IROS2015
    • http://burrimi.github.io/publications/iros_2015_mav.pdf

Technical University of Munich

• Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer, IROS2017
  • first author = Vladyslav Usenko
    • postdoctal researcher, expert of Computer Vision, SLAM
    • Computer vision group
      • https://vision.in.tum.de/members/usenko