Related papers: Autonomous aerial perching and unperching using om…
This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically…
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…
Stop-rotor aircraft have long been proposed as the ideal vertical takeoff and landing (VTOL) aircraft for missions with equal time spent in both flight regimes, such as agricultural monitoring, search and rescue, and last-mile delivery.…
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt either an upward or downward approach, making it difficult…
Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous, and elaborate at height. Today, heavy mobile ground robots…
Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…
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…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their…
There are various desired capabilities to create aerial forest-traversing robots capable of monitoring both biological and abiotic data. The features range from multi-functionality, robustness, and adaptability. These robots have to weather…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the control wrench applied by the propellers. This maximizes (a)…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
As platform size is reduced, the flight of aerial robots becomes increasingly energetically expensive. Limitations on payload and endurance of these small robots have prompted researchers to explore the use of bimodal aerial-surface…