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While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…
An unscented Kalman filter with joint state and parameter estimation is proposed for aerodynamics, states and wind conditions for airborne wind energy converters. The proposed estimator relies on different measurement setups. Due to the…
Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control…
This paper evaluates and compares the performance of model-free and model-based reinforcement learning for the attitude control of fixed-wing unmanned aerial vehicles using PID as a reference point. The comparison focuses on their ability…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) based…
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…
Safe and accurate control of unmanned aerial vehicles in the presence of winds is a challenging control problem due to the hard-to-model and highly stochastic nature of the disturbance forces acting upon the vehicle. To meet performance…
This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…
Air entrapment during mold filling critically affects porosity and overall casting quality in High Pressure Die Casting. This study assesses the feasibility of applying the vof method within OpenFOAM to simulate compressible, turbulent mold…
Within wind farms, wake effects between turbines can significantly reduce overall energy production. Wind farm flow control encompasses methods designed to mitigate these effects through coordinated turbine control. Wake steering, for…
Intelligent vehicles in autonomous driving and obstacle avoidance, the precise relative state of vehicles put forward a higher demand. For a vehicle-borne sensor network with time-varying transmission delays, the problem of coordinate…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…
In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
Though robot learning is often formulated in terms of discrete-time Markov decision processes (MDPs), physical robots require near-continuous multiscale feedback control. Machines operate on multiple asynchronous sensing modalities, each…
Over the air computation (AirComp) is a promising technique that addresses big data collection and fast wireless data aggregation. However, in a network where wireless communication and AirComp coexist, mutual interference becomes a…
Ultra-Reliable and Low-Latency Communications (URLLC) services in vehicular networks on millimeter-wave bands present a significant challenge, considering the necessity of constantly adjusting the beam directions. Conventional methods are…
Unmanned aerial vehicles (UAVs, or drones) are likely to significantly increase the amount of air traffic. If the skies are full of UAVs, they need to interact with each other, for instance by yielding or other evasive maneuvers. The…