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This paper introduces a novel, small form-factor, aerial vehicle researchplatform for agile object detection, classification, tracking, and interactiontasks. General-purpose hardware components were designed to augment a givenaerial vehicle and enable it to perform safe and reliable grasping. Thesecomponents include a custom collision tolerant cage and low-cost GripperExtension Package, which we call GREP, for object grasping. Small vehiclesenable applications in highly constrained environments, but are often limitedby computational resources. This work evaluates the challenges ofpick-and-place tasks, with entirely onboard computation of object pose andvisual odometry based state estimation on a small platform, and demonstratesexperiments with enough accuracy to reliably grasp objects. In a total of 70trials across challenging cases such as cluttered environments, obstructedtargets, and multiple instances of the same target, we demonstratedsuccessfully grasping the target in 93% of trials. Both the hardware componentdesigns and software framework are released as open-source, since our intentionis to enable easy reproduction and application on a wide range of smallvehicles.

A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry