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This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
We present a novel framework demonstrating zero-shot sim-to-real transfer of visual control policies learned in a Neural Radiance Field (NeRF) environment for quadrotors to fly through racing gates. Robust transfer from simulation to real…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, enabling controlled structural…
UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts…
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…
Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precise positioning via low-cost inter-drone sensors. This paper develops an observability-aware control principle tailored to quadrotor…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Aiming at automatic, convenient and non-instrusive motion capture, this paper presents a new generation markerless motion capture technique, the FlyCap system, to capture surface motions of moving characters using multiple autonomous flying…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…