1. 제  목 (Title) : Ongoing Results on UAV Teleoperation with Onboard RGB-D Sensors and Quadrotor Physical Interaction

2. 연  사 : Dr. Antonio Franchi, Max Planck Institute for Biological Cybernetics

3. 일  시 : 2013년 11월 12일 (화) 오전 11시

4. 장  소 : 301동 1420호

5. 내  용 :
This talk presents an ongoing work on the development of a semiautonomous quadrotor UAV platform for indoor teleoperation that uses the RGB-D technology as the only exteroceptive sensor. The platform integrates IMU and Dense Visual Odometry pose estimation in order to stabilize the UAV velocity and track the desired velocity commanded by a remote operator though a haptic interface. The camera sensor is also used for collision-safe navigation and operator visual/haptic feedback. Obstacle avoidance is obtained through local obstacle map, attached to the quadrotor body frame, that is probabilistically updated while pan-scanning. Haptic feedback is based on the obstacle map and velocity tracking error thus creating and additional sensory channel for the operator in order to convey enhanced information about the environment and quadrotor state. The effectiveness of the platform is validated by means of experimental results performed without the aid of any external positioning system.
The talk will also briefly present another ongoing theoretical/experimental work whose goal is to let quadrotors to physically interact with and manipulate the surrounding environment through a rigidly attached tool.

6. 연사약력 :
Dr. Antonio Franchi is a Senior Research Scientist at the Max Planck Institute for Biological Cybernetics since 2010 and the scientific leader of the Autonomous Robotics and Human Machine Systems group. He received the Laurea degree (summa cum laude) in Electronic Engineering and the Ph.D. degree in Control and System Theory from the Sapienza University of Rome, Rome, Italy, in 2005 and 2009, respectively. He was a visiting student with the University of California at Santa Barbara in 2009. His main research interests include autonomous systems and robotics, with a special regard to control, planning, estimation, human-machine systems, haptics, and hardware/software architectures. He published more than 50 papers in international journals and conferences and in 2010 he was awarded with the IEEE RAS ICYA Best Paper Award for his research on Multi-robot Exploration. He is currently Associate Editor of the IEEE Robotics & Automation Magazine. He organized two workshops on Haptic Teleoperation of Mobile Robots and Multi-robot Systems, at IEEE ICRA 2012 and 2013, respectively. He also organized UAV Shared Control demos at IAS-12, IEEE SMC 2012, and RSS 2013, and the 2013 ICRA Technical Tour to the Max Planck Institute for Biological Cybernetics. He has some years of working experience in embedded systems and business consulting companies.

7. 문  의 : 기계항공공학부 이동준 교수 (Prof. Dongjun Lee, djlee@snu.ac.kr, 02-880-1724)