Related papers: SplitFlyer: a Modular Quadcoptor that Disassembles…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…

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…

A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained…

This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…

Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…

The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…

This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that enables rapid transformation into an ultra-narrow profile.…

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…

This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hybrid designs, Duawlfin eliminates the need for additional…

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…

Bio-engineered robots are under rapid development due to their maneuver ability through uneven surfaces. This advancement paves the way for experimenting with versatile electrical system developments with various motors. In this research…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had been slower than expected, partly due to the need for new…

In large-scale UAV swarms, dynamically executing machine learning tasks can pose significant challenges due to network volatility and the heterogeneous resource constraints of each UAV. Traditional approaches often rely on centralized…

A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…

This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…