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\textbf{FlexBox} is a flexible MATLAB toolbox for finite dimensional convex variational problems in image processing and beyond. Such problems often consist of non-differentiable parts and involve linear operators. The toolbox uses a…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
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,…
In the near future, the development of autonomous driving will get more complex as the vehicles will not only rely on their own sensors but also communicate with other vehicles and the infrastructure to cooperate and improve the driving…
This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant…