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In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…
Research on Multi-rotor Aerial Vehicles (MAVs) has experienced remarkable advancements over the past two decades, propelling the field forward at an accelerated pace. Through the implementation of motion control and the integration of…
The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…