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How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package delivery to disaster management benefiting from the…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
Unmanned Aerial Vehicles (UAVs) or drones have witnessed a spectacular surge in applications for military, commercial, and civilian purposes. However, their potential for flight is always limited by the finite power budget of their onboard…
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
Aerial grasping, particularly soft aerial grasping, holds significant promise for drone delivery and harvesting tasks. However, controlling UAV dynamics during aerial grasping presents considerable challenges. The increased mass during…
Multirotor Unmanned Aerial Vehicles (UAV)s have recently become an important instrument for collecting mineral data, enabling more effective and accurate geological investigations. This paper explores the difficulties in mounting…
Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore,…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
In this paper, the efficient deployment of multiple unmanned aerial vehicles (UAVs) with directional antennas acting as wireless base stations that provide coverage for ground users is analyzed. First, the downlink coverage probability for…
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 considers an unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) system, in which a UAV equipped with a directional antenna is dispatched to deliver wireless energy to charge two energy receivers (ERs) on the…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…