Related papers: Versatile Multilinked Aerial Robot with Tilting Pr…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard…
This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…
As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated…
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,…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…