Related papers: Vision-Based Multirotor Control for Spherical Targ…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…
This paper presents an inertial sensor aided technique for beam alignment and tracking in massive multiple-input multiple-output (MIMO) vehicle-to-vehicle (V2V) communications based on millimeter waves (mmWave). Since directional…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…