Related papers: A Learning-based Quadcopter Controller with Extrem…
This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal tracking controller on $\mathrm{SE}(3)$,…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Drones equipped with overhead manipulators offer unique capabilities for inspection, maintenance, and contact-based interaction. However, the motion of the drone and its manipulator is tightly linked, and even small attitude changes caused…
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…
A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors…
A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The…
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Deep Reinforcement learning has shown to be a powerful tool for developing policies in environments where an optimal solution is unclear. In this paper, we attempt to apply Twin Delayed Deep Deterministic Policy Gradients to train a neural…
Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
Quadrotors are increasingly used in the evolving field of aerial robotics for their agility and mechanical simplicity. However, inherent uncertainties, such as aerodynamic effects coupled with quadrotors' operation in dynamically changing…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
We study how to design learning-based adaptive controllers that enable fast and accurate online adaptation in changing environments. In these settings, learning is typically done during an initial (offline) design phase, where the vehicle…