Current drones perceive vegetation as obstacles to avoid. This paper demonstrates a bio-inspired approach enabling a drone to traverse unknown compliant obstacles like vegetation. A discoid sensorized shell facilitates interaction and sliding, simplifying control. An optimization-based controller ensures safety and dampens oscillations, even with unknown elastic responses. Experiments validate the strategy across varying stiffness values and real branches, showcasing potential for environmental monitoring and other applications.
Publisher
Nature Communications
Published On
Mar 26, 2024
Authors
Emanuele Aucone, Christian Geckeler, Daniele Morra, Lucia Pallottino, Stefano Mintchev
Tags
drones
vegetation
bio-inspired
environmental monitoring
control systems
experimentation
optimization
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