Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone
This paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes advantage of the need to use mixed-integer variabl...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/11/5588 |
| _version_ | 1827665560085725184 |
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| author | Sergei Savin Amer Al Badr Dmitry Devitt Roman Fedorenko Alexandr Klimchik |
| author_facet | Sergei Savin Amer Al Badr Dmitry Devitt Roman Fedorenko Alexandr Klimchik |
| author_sort | Sergei Savin |
| collection | DOAJ |
| description | This paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes advantage of the need to use mixed-integer variables in choosing the drone path (using big-M relaxation) to simultaneously choose the configuration of the drone, eliminating the need to use semidefinite matrices to encode configurations, as was done previously. The numerical properties of the algorithm are demonstrated in numerical studies. To show the viability of tensegrity drones, the first tensegrity quadrotor Tensodrone was build. The Tensodrone is based on a six-bar tensegrity structure that is inherently compliant and can withstand crash landings and frontal collisions with obstacles. This makes the robot safe for the humans around it and protects the drone itself during aggressive maneuvers in constrained and cluttered environments, a feature that is becoming increasingly important for challenging applications that include cave exploration and indoor disaster response. |
| first_indexed | 2024-03-10T01:29:47Z |
| format | Article |
| id | doaj.art-8270dba5248a4c7cace5b947137ad21b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T01:29:47Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-8270dba5248a4c7cace5b947137ad21b2023-11-23T13:44:19ZengMDPI AGApplied Sciences2076-34172022-05-011211558810.3390/app12115588Mixed-Integer-Based Path and Morphing Planning for a Tensegrity DroneSergei Savin0Amer Al Badr1Dmitry Devitt2Roman Fedorenko3Alexandr Klimchik4Center for Technologies in Robotics and Mechatronics Components, Innopolis University, 420500 Innopolis, RussiaCenter for Technologies in Robotics and Mechatronics Components, Innopolis University, 420500 Innopolis, RussiaCenter for Technologies in Robotics and Mechatronics Components, Innopolis University, 420500 Innopolis, RussiaZilant Robotics LLC (RaccoonLab), 420500 Innopolis, RussiaCenter for Technologies in Robotics and Mechatronics Components, Innopolis University, 420500 Innopolis, RussiaThis paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes advantage of the need to use mixed-integer variables in choosing the drone path (using big-M relaxation) to simultaneously choose the configuration of the drone, eliminating the need to use semidefinite matrices to encode configurations, as was done previously. The numerical properties of the algorithm are demonstrated in numerical studies. To show the viability of tensegrity drones, the first tensegrity quadrotor Tensodrone was build. The Tensodrone is based on a six-bar tensegrity structure that is inherently compliant and can withstand crash landings and frontal collisions with obstacles. This makes the robot safe for the humans around it and protects the drone itself during aggressive maneuvers in constrained and cluttered environments, a feature that is becoming increasingly important for challenging applications that include cave exploration and indoor disaster response.https://www.mdpi.com/2076-3417/12/11/5588tensegrity dronemorphing planningmixed-integer programmingbig-M relaxationconfiguration dataset |
| spellingShingle | Sergei Savin Amer Al Badr Dmitry Devitt Roman Fedorenko Alexandr Klimchik Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone Applied Sciences tensegrity drone morphing planning mixed-integer programming big-M relaxation configuration dataset |
| title | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
| title_full | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
| title_fullStr | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
| title_full_unstemmed | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
| title_short | Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone |
| title_sort | mixed integer based path and morphing planning for a tensegrity drone |
| topic | tensegrity drone morphing planning mixed-integer programming big-M relaxation configuration dataset |
| url | https://www.mdpi.com/2076-3417/12/11/5588 |
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