Related papers: Finding Optimal Modular Robots for Aerial Tasks
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Autonomous systems and humans are increasingly sharing the same space. Robots work side by side or even hand in hand with humans to balance each other's limitations. Such cooperative interactions are ever more sophisticated. Thus, the…
Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…
Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…
In this report, we present the theory on aerodynamics of quadrotors using the well established momentum and blade element theories. From a robotics perspective, the theoretical development of the models for thrust and horizontal forces and…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed loop control system is assumed to…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…