Related papers: Chasing Millimeters: Design, Navigation and State …
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…
Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms.…
The advances in compact and agile micro aerial vehicles (MAVs) have shown great potential in replacing human for labor-intensive or dangerous indoor investigation, such as warehouse management and fire rescue. However, the design of a state…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Autoregressive scientific forecasters often enforce physical or structural constraints by repairing each predicted state before feeding it back into the model. However, it remains unclear when stronger physical rule enforcement becomes…
The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…
Precise indoor positioning systems (IPSs) are key to perform a set of tasks more efficiently during aircraft production, operation and maintenance. For instance, IPSs can overcome the tedious task of configuring (wireless) sensor nodes in…
Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Lightweight long-range mapping is critical for safe navigation of UAV swarms in large-scale unknown environments. Traditional stereo vision systems with fixed short baselines face limited perception ranges. To address this, we propose…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…
The employment of unmanned aerial vehicles (UAVs) in the lowaltitude economy necessitates precise and real-time radio maps for reliable communication and safe navigation. However, constructing such maps is hindered by the infeasibility of…