Autonomous Vision-based Rapid Aerial Grasping

In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world scenarios. Robotic aerial grasping using drones promises fast pick-and-place solutions with a large increase in mobility over other robotic solutions. Utilizing Mask R-CNN scene segmentation (detectron2), we propose a vision-based system for autonomous rapid aerial grasping which does not rely on markers for object localization and does not require the size of the object to be previously known. With spatial information from a depth camera, we generate a point cloud of the detected objects and perform geometry-based grasp planning to determine grasping points on the objects. In real-world experiments, we show that our system can localize objects with a mean error of 3 cm compared to a motion capture ground truth for distances from the object ranging from 0.5 m to 2.5 m. Similar grasping efficacy is maintained compared to a system using motion capture for object localization in experiments. With our results, we show the first use of geometry-based grasping techniques with a flying platform and aim to increase the autonomy of existing aerial manipulation platforms, bringing them further towards real-world applications in warehouses and similar environments.

RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots

Rapid aerial grasping promises vast applications that utilize the dynamic picking up and placing of objects by robots. Rigid grippers traditionally used in aerial manipulators require very high precision and specific object geometries for successful grasping. We propose RAPTOR, a quadcopter platform combined with a custom Fin Ray gripper to enable a more flexible grasping of objects with different geometries, leveraging the properties of soft materials to increase the contact surface between the gripper and the objects. To reduce the communication latency, we present a novel FastDDS-based middleware solution as an alternative to ROS (Robot Operating System). We show that RAPTOR achieves an average of 83% grasping efficacy in a real-world setting for four different object geometries while moving at an average velocity of 1 m/s during grasping, which is approximately five times faster than the state-of-the-art while supporting up to four times the payload. Our results further solidify the potential of quadcopters in warehouses and other automated pick-and-place applications over longer distances where speed and robustness become essential.