乐胖代购免代理版

{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,19]],"date-time":"2024-09-19T16:21:38Z","timestamp":1726762898568},"reference-count":101,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"67","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,6,29]]},"abstract":"\n Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural network\u2013based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)\u2013accelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural network\u2013based controllers. Our demonstrators include trajectory tracking at up to 5\n g<\/jats:italic>\n and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research.\n <\/jats:p>","DOI":"10.1126\/scirobotics.abl6259","type":"journal-article","created":{"date-parts":[[2022,6,22]],"date-time":"2022-06-22T17:55:55Z","timestamp":1655920555000},"source":"Crossref","is-referenced-by-count":54,"title":["Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"http:\/\/orcid.org\/0000-0001-9585-1278","authenticated-orcid":true,"given":"Philipp","family":"Foehn","sequence":"first","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-6094-5901","authenticated-orcid":true,"given":"Elia","family":"Kaufmann","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-7977-7802","authenticated-orcid":true,"given":"Angel","family":"Romero","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8549-4932","authenticated-orcid":true,"given":"Robert","family":"Penicka","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-8539-3979","authenticated-orcid":true,"given":"Sihao","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-5790-9982","authenticated-orcid":true,"given":"Leonard","family":"Bauersfeld","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-8551-0370","authenticated-orcid":true,"given":"Thomas","family":"Laengle","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-3964-8552","authenticated-orcid":true,"given":"Giovanni","family":"Cioffi","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-6352-3744","authenticated-orcid":true,"given":"Yunlong","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-8410-3933","authenticated-orcid":true,"given":"Antonio","family":"Loquercio","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-3831-6778","authenticated-orcid":true,"given":"Davide","family":"Scaramuzza","sequence":"additional","affiliation":[{"name":"Department of Informatics, University of Zurich, Zurich, Switzerland."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434236"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2633290"},{"key":"e_1_3_2_4_2","first-page":"690","article-title":"Beauty and the beast: Optimal methods meet learning for drone racing","author":"Kaufmann E.","year":"2018","unstructured":"E. 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