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This paper explores the application of vision-based system identification techniques in quadrotor modeling and control. Through experiments and analysis, we address the complexities and limitations of quadrotor modeling, particularly in…

This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording. We…

Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…

This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…

This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…

We propose a measure of shape which is appropriate for the study of a complicated geometric structure, defined using the topology of neighborhoods of the structure. One aspect of this measure gives a new notion of fractal dimension. We…

We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…

We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…

Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is…

Periodic structures are often found in various areas of nanoscience and nanotechnology with many of them being used for metrological purposes either to calibrate instruments, or forming the basis of measuring devices such as encoders.…

In this paper, a complexity indicator for 4D flight trajectories is developed based on conflict probability. A 4D trajectory is modeled as piecewise linear segments connected by waypoints. The position of each aircraft is modeled as a 2D…

The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…

Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of…

This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…