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Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…
Soft compliant microrobots have the potential to deliver significant societal impact when deployed in applications such as search and rescue. In this research we present mCLARI, a body compliant quadrupedal microrobot of 20mm neutral body…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Fish detection in water-land transfer has significantly contributed to the fishery. However, manual fish detection in crowd-collaboration performs inefficiently and expensively, involving insufficient accuracy. To further enhance the…
The LISA Pathfinder mission will demonstrate the technology of drag-free test masses for use as inertial references in future space-based gravitational wave detectors. To accomplish this, the Pathfinder spacecraft will perform drag-free…
Miniature Micro Aerial Vehicles (MAV) are very suitable for flying in indoor environments, but autonomous navigation is challenging due to their strict hardware limitations. This paper presents a highly efficient computer vision algorithm…
Precision agriculture demands non-invasive, energy-efficient, and sustainable plant monitoring solutions. In this work, we present the design and implementation of a lightweight, batteryless plant movement sensor powered solely by RF…
The visual cue of optical flow plays a major role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance…
Automatic drone landing is an important step for achieving fully autonomous drones. Although there are many works that leverage GPS, video, wireless signals, and active acoustic sensing to perform precise landing, autonomous drone landing…
One of the limiting noise sources of ground-based gravitational wave detectors at frequencies below 30 Hz is control-induced displacement noise. Compact laser interferometric sensors are a prime candidate for improved local displacement…
A major challenge in optical quantum processing is implementing large, stable interferometers. Here we propose a virtual, measurement-based interferometer that is programmed on the fly solely by the choice of homodyne measurement angles.…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
We report on a compact, highly sensitive all-fiber accelerometer suitable for low frequency and low amplitude vibration sensing. The sensing elements in the device are two short segments of strongly coupled asymmetric multicore fiber (MCF)…
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Model-Based Control Barrier Function (CBF) framework, which…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…