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The massive growth of Smart City and Internet of Things applications enables safety and security. The data those are produced from surveillance cameras in aerial devices such as unmanned aerial networks (UAVs) are needed to be transferred…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
Airborne wind energy systems are capable of extracting energy from higher wind speeds at higher altitudes. The configuration considered in this paper is based on a tethered kite flown in a pumping orbit. This pumping cycle generates energy…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
The knowledge of the movement of animals is important and necessary for ecologists to do further analysis such as exploring the animal migration route. A novel method which is based on the state space modeling has been proposed to track the…
The problem of launching a tethered aircraft to be used for airborne wind energy generation is investigated. Exploiting well-assessed physical principles, an analysis of three different take-off approaches is carried out. The approaches are…
This paper proposes an unmanned aerial vehicle (UAV) aided content management system in communication-challenged disaster scenarios. Without cellular infrastructure in such scenarios, community of stranded users can be provided access to…
To enable communication-efficient federated learning (FL), this paper studies an unmanned aerial vehicle (UAV)-enabled FL system, where the UAV coordinates distributed ground devices for a shared model training. Specifically, by exploiting…
Methodical aerial population surveys monitoring critically endangered species in Canadian North Atlantic waters are instrumental in influencing government policies both in economic and conservational efforts. The primary factor hindering…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
Target tracking is an important issue of social security. In order to track a target, traditionally a large amount of surveillance video data need to be uploaded into the cloud for processing and analysis, which put stremendous bandwidth…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…