Related papers: Perception-Aware Perching on Powerlines with Multi…
This work addresses the problem of robot manipulation tasks under unknown dynamics, such as pick-and-place tasks under payload uncertainty, where active exploration and(/for) online parameter adaptation during task execution are essential…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the \textit{on-demand collision avoidance} method presented in previous work to efficiently compute…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
The flying speed of autonomous quadrotors has increased significantly over the past 5 years, particularly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor,…
Power saving is a prevailing concern in desktop computers and, especially, in battery-powered devices such as mobile phones. This is generating a growing demand for power-aware graphics applications that can extend battery life, while…
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…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…
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…
Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…
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…