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Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
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.…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
The usage of drones and rovers helps to overcome the limitations of traditional agriculture which has been predominantly human-intensive, for carrying out tasks such as removal of weeds and spraying of fertilizers and pesticides. Drones and…
Promoting exploratory movements through contingent feedback can positively influence motor development in infancy. Our ongoing work gears toward the development of a robot-assisted contingency learning environment through the use of small…
This paper proposes Drone Squadron Optimization, a new self-adaptive metaheuristic for global numerical optimization which is updated online by a hyper-heuristic. DSO is an artifact-inspired technique, as opposed to many algorithms used…
Recent research highlights the potential of drones to enhance pedestrian experiences, such as aiding navigation and supporting street-level activities. This paper explores the design of drone interfaces to assist pedestrians crossing…
We propose the use of basic inertial measurement units (IMU) which contain sensors such as accelerometers and gyroscopes already on-board drones to detect the speed and direction of wind gusts. The ability to quickly sense wind gusts has…
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…