Related papers: Quadcopter Position Hold Function using Optical Fl…
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…
In an era of rapid urbanization and e-commerce growth, efficient parcel delivery methods are crucial. This paper presents a detailed study of the aerodynamics and sensing analysis of drones for parcel delivery. Utilizing Computational Fluid…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Tethered quadcopters are used for extended flight operations where the power to the system is provided via a tether connected to an external power source. In this work, we consider a system of multiple quadcopters powered by a single…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient quadcopter. This…
Private lunar missions are faced with the challenge of robust autonomous navigation while operating under stringent constraints on mass, power, and computational resources. This work proposes a motion-field inversion framework that uses…
Autonomous landing on mobile platforms is crucial for extending quadcopter operational flexibility, yet conventional methods are often too inefficient for highly dynamic scenarios. The core limitation lies in the prevalent…
To be able to play soccer, a robot needs a good estimate of its current position on the field. Ideally, multiple features are visible that have known locations. By applying trigonometry we can estimate the viewpoint from where this…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Optical flow computation with frame-based cameras provides high accuracy but the speed is limited either by the model size of the algorithm or by the frame rate of the camera. This makes it inadequate for high-speed applications. Event…
Wind resistance control is an essential feature for quadcopters to maintain their position to avoid deviation from target position and prevent collisions with obstacles. Conventionally, cascaded PID controller is used for the control of…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…
Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…
Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this…
The use of Unmanned Aerial Vehicles (UAVs) as a substitute for ordinary vehicles in applications of search and rescue is being studied all over the world due to its flexible mobility and less obstruction, including two main tasks: search…
Doppler orbitography uses the Doppler shift in a transmitted signal to determine the orbital parameters of satellites including range and range-rate (or radial velocity). We describe two techniques for atmospheric-limited optical Doppler…
A mathematical model, suitable for smartphone implementation, is presented to simulate the performance of a rainwater harvesting system equipped with a covered storage tank. This model serves to determine the optimal tank size and develop…