XPLORER | NICHE Robotic Systems Laboratory

XPLORER is another version of SQUEEZE. It is deformable and used to demonstrates the benefits of compliance in aerial-physical interaction tasks of mapping and navigation in unknown, cluttered environments. (Patnaik et al., 2023)

🎥 Watch XPLORER in Action

🎯 Timestamped Highlights

Benefits of a deformable chassis (00:09–00:16)
Interaction control yields to disturbance (00:41–00:46)
Pushes a box without losing contact (01:02–01:10)
Tactile exploration of a wall (02:45–03:12)
Tactile mapping of a box (03:25–04:03)
Tactile mapping of pipe & trash can (04:11–05:14)
Failed attempts by rigid drone (07:08–07:27)
New ricocheting maneuver (08:18–08:30)

References

2023

tactile mapping

Tactile-based Exploration, Mapping and Navigation with Collision-Resilient Aerial Vehicles

Karishma Patnaik Aravind Adhith Pandian Saravanakumaran, and 1 more author

arXiv preprint arXiv:2305.17217, 2023

Bib

@article{patnaik2023tactile,
  title = {Tactile-based Exploration, Mapping and Navigation with Collision-Resilient Aerial Vehicles},
  author = {Patnaik, Karishma and Saravanakumaran, Aravind Adhith Pandian and Zhang, Wenlong},
  journal = {arXiv preprint arXiv:2305.17217},
  year = {2023},
}