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This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…
To enhance both the sensing and covert communication performance, a dual-unmanned aerial vehicle (UAV)-aided scheme is proposed for integrated sensing and communication networks, in which one UAV maneuvers as the aerial dual-functional…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
The nonconvex and nonsmooth finite-sum optimization problem with linear constraint has attracted much attention in the fields of artificial intelligence, computer, and mathematics, due to its wide applications in machine learning and the…
Action-conditioned surgical video generation is a critical yet highly challenging problem for robotic surgery. The core difficulty is that low-dimensional control vectors must precisely govern complex image-space evolution. In this work, we…
This letter aims to maximize the average throughput via the joint design of the transmit power and trajectory for unmanned aerial vehicle (UAV)-enabled network. The conventional way to tackle this problem is based on the alternating…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling between lift and attitude, resembling…
Accurate dynamics models are critical for aerial manipulators operating under complex tasks such as payload transport. However, modeling these systems remains fundamentally challenging due to strong quadrotor-manipulator coupling, delayed…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…
Multi-access edge computing (MEC)-enabled integrated space-air-ground (SAG) networks have drawn much attention recently, as they can provide communication and computing services to wireless devices in areas that lack terrestrial base…
This work develops a robust and efficient framework of the adjoint gradient-based aerodynamic shape optimization (ASO) using high-order discontinuous Galerkin methods (DGMs) as the CFD solver. The adjoint-enabled gradients based on…
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…