Related papers: Motion Primitives for Robotic Flight Control
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…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
The Kinematic Theory of rapid movements, and its associated Sigma-Lognormal, model 2D spatiotemporal trajectories. It is constructed mainly as a temporal overlap of curves between virtual target points. Specifically, it uses an arc and a…
The challenge of teaching robots to perform dexterous manipulation, dynamic locomotion, or whole--body manipulation from a small number of demonstrations is an important research field that has attracted interest from across the robotics…
While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to…
Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridging research and production: 1) Real-time…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Deep learning-based models, such as recurrent neural networks (RNNs), have been applied to various sequence learning tasks with great success. Following this, these models are increasingly replacing classic approaches in object tracking…
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of…
Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level motion primitives like grasping and pushing. However, such…
We explore the reinforcement learning approach to designing controllers by extensively discussing the case of a quadcopter attitude controller. We provide all details allowing to reproduce our approach, starting with a model of the dynamics…