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The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
This paper proposes a novel observer-based disturbance estimation method for high degree-of-freedom Euler-Lagrangian systems using an unknown input-output (UIO) sliding mode observer (SMO). Different from the previous SMO methods, this…
Many emerging applications of intelligent robots need to explore and understand new environments, where it is desirable to detect objects of novel classes on the fly with minimum online efforts. This is an object detection on demand (ODOD)…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
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…
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
A classic task in robotics is tracking a target in the external environment. There are several well-documented approaches to this problem. This paper presents a novel approach to this problem using infrared time of flight sensors. The use…
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a…
Aerial Remote Sensing (ARS) vision tasks present significant challenges due to the unique viewing angle characteristics. Existing research has primarily focused on algorithms for specific tasks, which have limited applicability in a broad…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…