Related papers: Quadcopter Team Configurable Motion Guided by a Qu…
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
This paper presents an experimental validation of decentralized affine transformation (AT) in multi-agent systems using teams of mini-quadcopters. The AT framework enables an agent team to safely navigate constrained, obstacle-rich…
This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of cooperative tasks including information collection, inspection…
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
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…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…