Task 010/011: Self-flying Droves/Personalized Robots

Event Date: April 9, 2020
Priority: No
School or Program: Electrical and Computer Engineering
College Calendar: Show
Wenxin Liu
Wenxin Liu
Laura Jarin-Lipschitz
Laura Jarin-Lipschitz
Wenxin Liu, University of Pennsylvania
Laura Jarin-Lipschitz, University of Pennsylvania
Data-Driven Approaches in Flying a SWAP-Constrained Quadrotor under Sensor Noise and Failure


In this talk, we discuss how we make use of data-driven approaches to autonomously fly a quadrotor under Size, Weight and Power (SWAP) constraints. Due to the small form of the platform, the payloads and computational power are limited. We discuss scenarios where the limitation of sensor capacity affects state estimation, the fundamental building block to a robotics system, presenting significant challenges to autonomous flight. We further present our recent work using data-driven approaches to address these challenges from three different perspectives: flying under collision (obstacle detection failure), flying with only an IMU (vision failure), and flying with a robust controller (modeling VIO errors).

Bio: Laura Jarin-Lipschitz is a 2nd year PhD student at the University of Pennsylvania, working on planning and control for robots.

Bio: Wenxin Liu is a 4th year PhD student working with Vijay Kumar and Kostas Daniilidis on Visual-Inertial state estimation for constrained platforms and the application of deep learning in this domain.