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We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be…
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…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
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…
Adopting AI copilots in professional workflows presents opportunities for enhanced productivity, efficiency, and decision making. In this paper, we present results from a six month trial of M365 Copilot conducted at our organisation in…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…
Critical task and cognition-based environments, such as in military and defense operations, aviation user-technology interaction evaluation on UI, understanding intuitiveness of a hardware model or software toolkit, etc. require an…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
In the past few years, the emergence of pre-training models has brought uni-modal fields such as computer vision (CV) and natural language processing (NLP) to a new era. Substantial works have shown they are beneficial for downstream…
Accelerating Machine Learning (ML) workloads requires efficient methods due to their large optimization space. Autotuning has emerged as an effective approach for systematically evaluating variations of implementations. Traditionally,…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…