Related papers: Quadcopter Position Hold Function using Optical Fl…

Drones estimate their position and orientation with the help of various sensors. Their data streams, that differ with respect to the sampling rate and standard deviation, need to be fused to get an accurate position and orientation…

The number of pedestrian accidents continues to keep climbing. Distraction from smartphone is one of the biggest causes for pedestrian fatalities. In this paper, we develop SaferCross, a mobile system based on the embedded sensors of…

Future optical clock networks will require free-space optical time-frequency transfer between flying clocks. However, simple one-way or standard two-way time transfer between flying clocks will completely break down because of the…

Optical tweezers equipped with position detection allow for application of piconewton-scale forces and high-temporal-resolution measurements of nanometer-scale motion. While typically used for trapping microscopic objects, the optical…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…

Remote monitoring of drones has become a global objective due to emerging applications in national security and managing aerial delivery traffic. Despite their relatively small size, drones can carry significant payloads, which require…

Drones have become a common tool, which is utilized in many tasks such as aerial photography, surveillance, and delivery. However, operating a drone requires more and more interaction with the user. A natural and safe method for Human-Drone…

In the field of navigation and visual servo, it is common to calculate relative pose by feature points on markers, so keeping markers in camera's view is an important problem. In this paper, we propose a novel approach to calculate…

In recent years, with the development of the Global Navigation Satellite System (GNSS), the satellite navigation technology has played a crucial role in smartphone navigation. To solve the problem of the low positioning accuracy in the…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…

This study presents a classroom-friendly method for measuring the coefficient of viscosity of a liquid using a smartphone s accelerometer sensor. A metallic ball tied with a spring-mass system and submerged in mustard oil undergoes damped…

While the human eye can perceive an impressive twenty stops of dynamic range, smartphone camera sensors remain limited to about twelve stops despite decades of research. A variety of high dynamic range (HDR) image capture and processing…

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…

The outbreak of COVID-19 exposed the inadequacy of our technical tools for home health surveillance, and recent studies have shown the potential of smartphones as a universal optical microscopic imaging platform for such applications.…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Cane-type robots have been utilized to assist and supervise the mobility-impaired population. One essential technique for cane-type robots is human following control, which allows the robot to follow the user. However, the limited…

We present a novel approach to increase the flight time of a multirotor via mid-air docking and in-flight battery switching. A main quadcopter flying using a primary battery has a docking platform attached to it. A 'flying battery' - a…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

We autonomously direct a small quadcopter package delivery Uncrewed Aerial Vehicle (UAV) or "drone" to take off, fly a specified route, and land for a total of 209 flights while varying a set of operational parameters. The vehicle was…