Related papers: Fast and Agile Vision-Based Flight with Teleoperat…

Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and…

This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…

Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…

Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with…

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…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Experimental flight tests are reported about quadrotors UAVs via a recent model-free control (MFC) strategy, which is easily implementable. We show that it is possible to achieve acrobatic rate control of the UAV, which is beyond the…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…

Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…

Natural flyers use soft wings to seamlessly enable a wide range of flight behaviours, including agile manoeuvres, squeezing through narrow passageways, and withstanding collisions. In contrast, conventional quadrotor designs rely on rigid…

Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…