Related papers: On the Human Control of a Multiple Quadcopters wit…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
In this paper, we design a reliable Heliquad and develop an intelligent controller to handle one actuators complete failure. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each…
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…
We study the problem of learning to perform multi-stage robotic manipulation tasks, with applications to cable routing, where the robot must route a cable through a series of clips. This setting presents challenges representative of complex…
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…
The ability to manipulate and interlace cables using aerial vehicles can greatly improve aerial transportation tasks. Such interlacing cables create hitches by winding two or more cables around each other, which can enclose payloads or can…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
This work demonstrates that the non-stop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load. It also presents an algorithm for generating the carriers' coordinated non-stop trajectories.…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…