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How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to compute the attach…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
Automated vehicles (AVs) must be evaluated thoroughly before their release and deployment. A widely-used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads.…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Advanced driver assistance systems are advancing at a rapid pace and all major companies started investing in developing the autonomous vehicles. But the security and reliability is still uncertain and debatable. Imagine that a vehicle is…
Every aspect of our life depends on the ability to communicate effectively. Organizations that manage to establish communication routines, protocols and means thrive. An Aerial Traffic Management System operates similarly as an organization…
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
Unmanned Aerial vehicles (UAVs) are widely used as network processors in mobile networks, but more recently, UAVs have been used in Mobile Edge Computing as mobile servers. However, there are significant challenges to use UAVs in complex…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple…