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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…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…
In dynamic vehicle routing problems (DVRPs), some part of the information is revealed or changed on the fly, and the decision maker has the opportunity to re-plan the vehicle routes during their execution, reflecting on the changes.…
We introduce an early-phase bottleneck analysis and characterization model called the F-1 for designing computing systems that target autonomous Unmanned Aerial Vehicles (UAVs). The model provides insights by exploiting the fundamental…
This paper describes the experience of preparing and testing the SPARUS II AUV in different applications. The AUV was designed as a lightweight vehicle combining the classical torpedo-shape features with the hovering capability. The robot…
In this paper, a combat Unmanned Air Vehicle (UAV) is modeled in the simulation environment. The rotary wing UAV is successfully performed various tasks such as locking on the targets, tracking, and sharing the relevant data with…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
We present planning challenges, methods and preliminary results for a new model-based paradigm for earth observing systems in adaptive remote sensing. Our heuristically guided constraint optimization planner produces coordinated plans for…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Without radical technological advancements, the global aviation industry will continue to be a major carbon emitter. To reduce aviation's carbon emissions, innovative aircraft technology, including electrified aircraft propulsion, is under…
Electrification in the automotive industry and increasing powertrain complexity demand accelerated, cost-effective development cycles. While data-driven models are recently investigated at component level, a gap exists in systematically…
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance…
This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…