Related papers: A Morphing Quadrotor that Can Optimize Morphology …
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
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…
Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors' agility and ability to hover makes them well suited…
Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
Natural flyers use soft wings to seamlessly enable a wide range of flight behaviours, including agile manoeuvres, squeezing through narrow passageways, and withstanding collisions. In contrast, conventional quadrotor designs rely on rigid…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…
Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and more attention lately, since their ability to modify their geometric morphology in-flight increases their versatility, while expanding their application range. In this…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Motivated by the increasing use of quadrotors for payload delivery, we consider a joint trajectory generation and feedback control design problem for a quadrotor experiencing aerodynamic wrenches. Unmodeled aerodynamic drag forces from…
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dynamics, we combine a geometric tracking…