Collaborative Research: NRI: FND: Flying Swarm for Safe Human Interaction in Unstructured Environments

合作研究：NRI：FND：用于非结构化环境中安全人类互动的飞群

• 批准号: 2024615
• 负责人: Michael Rubenstein
• 金额: $ 37.5万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-10-01 至 2024-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024615&HistoricalAwards=false
• 关键词: Collaborative; Research; NRI; FND; Flying

While flying robots are becoming commonplace, swarms of them have the potential to be useful in a wide variety of cases such as surveillance and informational displays. Currently, flying swarms of robots have difficulty interacting with humans due to two factors: their almost ubiquitous reliance on external sensing, such as GPS or motion-capture systems, and their inherent danger to humans due to their use of hazardous high-speed propellers. The project will address these two factors by designing and creating a novel swarm of over 200 flying robots that are safe to operate around people. They will use only on-board sensing to interact with each other and humans and can operate in a wide range of unstructured environments. The swarm capabilities will be demonstrated in two scenarios: autonomous 3D shape formation, where the swarm self-assembles a user-specified shape, and a second scenario where a human uses their hands to move the swarm into a desired shape.This project investigates aspects of flying UAVs and their control to allow the creation of large flying swarms that are not reliant on external positioning, can safely interact with humans, and where the swarm has infinite endurance. The UAV uses a novel single actuator design to enable the low-cost creation of the swarm, as well as facilitate lightweight UAVs for human safety. The UAVs employ an infrared transceiver on a rapidly spinning chassis to sense bearing, elevation, and distance to neighboring UAVs, as well as transmit data to them. They also have a time-of-flight range finder to sense passive objects nearby. This sensing will be used to control the position of the individuals with respect to their neighbors and to enable swarm behaviors controlled through natural human interaction. The endurance of the swarm is extended by having UAVs take turns participating in the swarm shape, and then fly back to the base station to recharge. This cycle of swarming and then charging is repeated and staggered amongst the swarm so there are always UAVs participating in the swarm behavior.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

在飞行机器人变得司空见惯的同时，它们的群有可能在各种情况下（例如监视和信息显示）有用。目前，由于两个因素，飞行的机器人群很难与人类相互作用：它们几乎无处不在，对外部感应（例如GPS或运动捕获系统），以及由于使用有害的高速螺旋桨而对人类的固有危险。该项目将通过设计和创建一群超过200个飞行机器人来解决这两个因素。他们将仅使用板载传感与彼此相互作用和人类互动，并且可以在各种非结构化环境中运行。 群体能力将在两种情况下展示：自主3D形状形成，群群自我组成用户指定的形状，以及第二种情况，在这种情况下，人类用双手将群体移动到所需的形状中。该项目调查了飞行uavs的各个方面，可以使飞行的群体及其控制范围内的群体相互作用，而不是在外部互动，而不是在外部互动，而不是在人类互动，那么在人类的互动方面，既可以互动，又可以在人类的互动中互动，而不是在人类互动，那么既可以互动，又可以在人类的范围内互动，而不是在人类互动，那么既可以互动，又可以在人类的互动中互动，而不是在人类互动，那么又有型号的人，并且可以使人相互作用。耐力。 无人机使用一种新颖的单执行器设计来实现群的低成本创造，并为人类安全提供了轻巧的无人机。无人机在快速旋转的底盘上采用红外收发器来感知轴承，高程和距离相邻无人机的距离，并将数据传输到他们。 他们还具有飞行时间范围的查找器，可以在附近感知被动物体。 这种感应将用于控制个体在邻居方面的位置，并通过自然的人类互动来控制群的行为。 通过让无人机轮流参与群形状，然后飞回基站充电来扩大群体的耐力。 在群体之间重复并交错了这一群体和充电的周期，因此总会有无人机参与群的行为。该奖项反映了NSF的法定任务，并被认为是通过基金会的智力优点和更广泛影响的评估标准来通过评估来获得支持的。

项目成果

Autonomous 3D Position Control for a Safe Single Motor Micro Aerial Vehicle

安全单电机微型飞行器的自主 3D 位置控制

• DOI: 10.1109/lra.2023.3269317
• 发表时间: 2023
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Curtis, Andrew G.;Strong, Billie;Steager, Edward;Yim, Mark;Rubenstein, Michael
• 通讯作者: Rubenstein, Michael