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Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
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…
Cyber-physical space systems are engineered systems operating within physical space with design requirements that depend on space, e.g., regarding location or movement behavior. They are built from and depend upon the seamless integration…
The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body…
Aircraft collision avoidance systems is critical to modern aviation. These systems are designed to predict potential collisions between aircraft and recommend appropriate avoidance actions. Creating effective collision avoidance systems…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study.…
As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of…
Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…
This paper presents a novel framework for cooperative robotics competitions (coopetitions) that promote the transferability and composability of robotics modules, including software, hardware, and data, across heterogeneous robotic systems.…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…