Related papers: Sharing the Load: Autonomous Multi-Rover Cargo Tra…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
This paper introduces an Unmanned Aerial Vehicle - enabled content management architecture that is suitable for critical content access in communities of users that are communication-isolated during diverse types of disaster scenarios. The…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to their…
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…
NASA's Cooperative Autonomous Distributed Robotic Exploration (CADRE) mission, slated for flight to the Moon's Reiner Gamma region in 2025/2026, is designed to demonstrate multi-agent autonomous exploration of the Lunar surface and…
Global localization is necessary for autonomous operations on the lunar surface where traditional Earth-based navigation infrastructure, such as GPS, is unavailable. As NASA advances toward sustained lunar presence under the Artemis…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated towed vehicles (ROTVs) and develops a gain-scheduled…
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…
With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development…
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…
Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a…