Related papers: Attainable Force Approximation and Full-Pose Track…
We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and…
UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The proposed controller is designed to enable…
The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal…
Autonomous tracking of suspicious unmanned aerial vehicles (UAVs) by legitimate monitoring UAVs (or monitors) can be crucial to public safety and security. It is non-trivial to optimize the trajectory of a monitor while conceiving its…
Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…
We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…