Stippling with Aerial Robots

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dc.contributor.authorGalea, Brendanen_US
dc.contributor.authorKia, Ehsanen_US
dc.contributor.authorAird, Nicholasen_US
dc.contributor.authorKry, Paul G.en_US
dc.contributor.editorAngus Forbes and Lyn Bartramen_US
dc.date.accessioned2016-05-04T16:05:33Z
dc.date.available2016-05-04T16:05:33Z
dc.date.issued2016en_US
dc.description.abstractWe describe a method for creating stippled prints using a quadrotor flying robot. At a low level, we use motion capture to measure the position of the robot and the canvas, and a robust control algorithm to command the robot to fly to different stipple positions to make contact with the canvas using an ink soaked sponge. We describe a collection of important details and challenges that must be addressed for successful control in our implementation, including robot model estimation, Kalman filtering for state estimation, latency between motion capture and control, radio communication interference, and control parameter tuning. We use a centroidal Voronoi diagram to generate stipple drawings, and compute a greedy approximation of the traveling salesman problem to draw as many stipples per flight as possible, while accounting for desired stipple size and dynamically adjusting future stipples based on past errors. An exponential function models the natural decay of stipple sizes as ink is used in a flight. We evaluate our dynamic adjustment of stipple locations with synthetic experiments. Stipples per second and variance of stipple placement are presented to evaluate our physical prints and robot control performance.en_US
dc.description.sectionheadersSynthesisen_US
dc.description.seriesinformationComputational Aestheticsen_US
dc.identifier.doi10.2312/exp.20161071en_US
dc.identifier.isbn978-3-03868-000-0en_US
dc.identifier.issn1816-0859en_US
dc.identifier.pages125-134en_US
dc.identifier.urihttps://doi.org/10.2312/exp.20161071en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3.3 [Computer Graphics]en_US
dc.subjectPicture/Image Generationen_US
dc.subjectDisplay algorithmsen_US
dc.subjectI.2.9 [Artificial Intelligence]en_US
dc.subjectRoboticsen_US
dc.subjectCommercial robots and applicationsen_US
dc.titleStippling with Aerial Robotsen_US
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CompAesth 16: Workshop on Computational Aesthetics