Related papers: FLOAT Drone: A Fully-actuated Coaxial Aerial Robot…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had been slower than expected, partly due to the need for new…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hybrid designs, Duawlfin eliminates the need for additional…
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…
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the…
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)…
Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…
In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp…
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…
Autonomous navigation for Unmanned Aerial Vehicles faces key challenges from limited onboard computational resources, which restrict deployed deep neural networks to shallow architectures incapable of handling complex environments.…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…