RADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs
Overview
This paper introduces the first mmWave RADAR-based perception-and-control system designed for fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles.
Generated from attributed reports · Updated 2 days ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · position errors: 0.15 other · Basis not reported
“BF) controller that directly outputs evasive accelerations. In 300 throw experiments spanning three object sizes and varying visibility (light and dark), it achieves mean position errors of at most 0.15 m, 0.93m, and 0.87m in the x, y, and z directions, with a similar spread in 90 experiments in smoke. An onboard implementation on a Raspberry Pi 4B demonstrates real-time feasibility with an end-to-end processing late”
Exact source · revision 1Source owner not reported
Reported quantity · system latency: 14 other · Basis not reported · Differing source assertions
“ncy of approximately 14ms per RADAR frame and a system latency of 75ms from first detection to the avoidance command. The UAV successfully avoided obstacles in all 20 tethered indoor flights and all 39 untethered outdoor avoidance maneuvers across three ball sizes, during both hover and forward flights at up to 5m/s with measured closing speeds up to 14.6m/s.”
Exact source · revision 1Source owner not reported
Reported quantity · system latency: 75 other · Basis not reported · Differing source assertions
“ncy of approximately 14ms per RADAR frame and a system latency of 75ms from first detection to the avoidance command. The UAV successfully avoided obstacles in all 20 tethered indoor flights and all 39 untethered outdoor avoidance maneuvers across three ball sizes, during both hover and forward flights at up to 5m/s with measured closing speeds up to 14.6m/s.”
Exact source · revision 1Source owner not reported
Reported quantity · closing speeds: 14.6 other · Basis not reported
“ncy of approximately 14ms per RADAR frame and a system latency of 75ms from first detection to the avoidance command. The UAV successfully avoided obstacles in all 20 tethered indoor flights and all 39 untethered outdoor avoidance maneuvers across three ball sizes, during both hover and forward flights at up to 5m/s with measured closing speeds up to 14.6m/s.”
Exact source · revision 1Source owner not reported
Reported quantity · forward flight speeds: 5 other · Basis not reported
“ncy of approximately 14ms per RADAR frame and a system latency of 75ms from first detection to the avoidance command. The UAV successfully avoided obstacles in all 20 tethered indoor flights and all 39 untethered outdoor avoidance maneuvers across three ball sizes, during both hover and forward flights at up to 5m/s with measured closing speeds up to 14.6m/s.”
Exact source · revision 1Source owner not reported
Reported quantity · throw experiments: 300 other · reported trials
“BF) controller that directly outputs evasive accelerations. In 300 throw experiments spanning three object sizes and varying visibility (light and dark), it achieves mean position errors of at most 0.15 m, 0.93m, and 0.87m in the x, y, and z directions, with a similar spread in 90 experiments in smoke. An onboard implementation on a Raspberry Pi 4B demonstrates real-time feasibility with an end-to-end processing late”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalRADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs
This paper introduces the first mmWave RADAR-based perception-and-control system designed for fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles.
Event coverage history
Current attention 3·Peak within the comparable range 4（2026-11-10 14:00 UTC）·Change within the comparable range over 24 hours –
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