# Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor

## TL;DR

This paper introduces a multirotor system capable of fast, safe, and agile autonomous and teleoperated flight in GPS-denied environments, utilizing visual-inertial navigation and real-time collision avoidance.

## Contribution

It presents a novel integrated system combining visual-inertial state estimation, collision-free trajectory planning, and teleoperation for high-speed multirotor flight in unstructured environments.

## Key findings

- Autonomous flight speeds exceeded 12 m/s.
- System enables safe teleoperation at 10 m/s.
- Validated in outdoor field experiments.

## Abstract

We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent advancements in visual-inertial state estimation and teleoperation. Our teleoperation framework maps user inputs onto smooth and dynamically feasible motion primitives. Collision-free trajectories are ensured by querying a locally consistent map that is incrementally constructed from forward-facing depth observations. Our system enables a non-expert operator to safely navigate a multirotor around obstacles at speeds of 10 m/s. We achieve autonomous flights at speeds exceeding 12 m/s and accelerations exceeding 12 m/s^2 in a series of outdoor field experiments that validate our approach.