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This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
The swift advancement of unmanned aerial vehicle (UAV) technologies necessitates new standards for developing human-drone interaction (HDI) interfaces. Most interfaces for HDI, especially first-person view (FPV) goggles, limit the…
We study a practical yet hasn't been explored problem: how a drone can perceive in an environment from different flight heights. Unlike autonomous driving, where the perception is always conducted from a ground viewpoint, a flying drone may…
Depth perception is paramount to tackle real-world problems, ranging from autonomous driving to consumer applications. For the latter, depth estimation from a single image represents the most versatile solution, since a standard camera is…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
The development in the field of autonomous driving goes hand in hand with ever new developments in the field of image processing and machine learning methods. In order to fully exploit the advantages of deep learning, it is necessary to…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Drones are becoming more and more popular nowadays. They are small in size, low in cost, and reliable in operation. They contain a variety of sensors and can perform a variety of flight tasks, reaching places that are difficult or…
The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…
Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…
Performing acrobatic maneuvers with quadrotors is extremely challenging. Acrobatic flight requires high thrust and extreme angular accelerations that push the platform to its physical limits. Professional drone pilots often measure their…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…
Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade…
Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power…
This paper presents the development of a control law, which is intended to be implemented on an optical guided glider. This guiding law follows an innovative approach, the reinforcement learning. This control law is used to make navigation…