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We develop an effective computer model to simulate sensing environments that consist of natural trees. The simulated environments are random and contain full geometry of the tree foliage. While this simulated model can be used as a general…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
In this paper, a combat Unmanned Air Vehicle (UAV) is modeled in the simulation environment. The rotary wing UAV is successfully performed various tasks such as locking on the targets, tracking, and sharing the relevant data with…
The usage of beamforming in Unmanned Aerial Vehicles (UAVs) has the potential of significantly improving the air-to-ground link quality. This paper presents the outcome of experimental trial of such a UAV-based beamforming system over live…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
This paper addresses the challenging problem of enabling reliable immersive teleoperation in scenarios where an Unmanned Aerial Vehicle (UAV) is remotely controlled by an operator via a cellular network. Such scenarios can be quite critical…
Cellular-connected unmanned aerial vehicles (UAVs) have gained increasing attention due to their potential to enhance conventional UAV capabilities by leveraging existing cellular infrastructure for reliable communications between UAVs and…
UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
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…