Related papers: Vision-Based Multirotor Control for Spherical Targ…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of view (FOV) during the maneuver. For this reason, in this paper,…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Bearing--only estimation is one of the fundamental and challenging problems in target tracking. As in the case of radar tracking, the presence of offset or position biases can exacerbate the challenges in bearing--only estimation. Modeling…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…
For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
In multi-target tracking, sensor control involves dynamically configuring sensors to achieve improved tracking performance. Many of these techniques focus on sensors with memoryless states (e.g., waveform adaptation, beam scheduling, and…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…
Object tracking is a fundamental task in computer vision with broad practical applications across various domains, including traffic monitoring, robotics, and autonomous vehicle tracking. In this project, we aim to develop a sophisticated…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…
Machine learning based object detection as well as tracking that object have been performed in this paper. The authors were able to set a range of interest (ROI) around an object using Open Computer Vision, better known as OpenCV. Next a…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…