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In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…
The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of…
In the industrial practice, additive manufacturing processes are often followed by post-processing operations such as subtractive machining, milling, etc. to achieve the desired surface quality and dimensional accuracy. Hence, a given part…
Structured weight pruning is a representative model compression technique of DNNs to reduce the storage and computation requirements and accelerate inference. An automatic hyperparameter determination process is necessary due to the large…
This work presents an algorithm for changing from latitudinal to longitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation changing is…
Accelerated discovery in materials science demands autonomous systems capable of dynamically formulating and solving design problems. In this work, we introduce a novel framework that leverages Bayesian optimization over a problem…
This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to compute the attach…
Architected materials can achieve enhanced properties compared to their plain counterparts. Specific architecting serves as a powerful design lever to achieve targeted behavior without changing the base material. Thus, the connection…
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this paper we propose an approach for adaptation of mobile robot missions that is not…
An additive manufacturing (AM) process often produces a {\it near-net} shape that closely conforms to the intended design to be manufactured. It sometimes contains additional support structure (also called scaffolding), which has to be…
This work presents a multi-scale design methodology for the deterministic optimisation of thin-walled composite structures integrating a global-local approach for the assessment of the buckling strength and a dedicated strategy to recover…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful human priors, limiting practicality, efficiency, and…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely…