Related papers: Controller Design and Implementation of a New Quad…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we…
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
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…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…
This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…
In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The…