相关论文: An Algebraic Approach for the MIMO Control of Smal…

The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…

We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…

Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…

This paper proposes an algorithmic technique for a class of optimal control problems where it is easy to compute a pointwise minimizer of the Hamiltonian associated with every applied control. The algorithm operates in the space of relaxed…

In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model, and then employ a feedback tracking controller that tracks…

This paper considers the controllability analysis problem for a class of multirotor systems subject to rotor failure/wear. It is shown that classical controllability theories of linear systems are not sufficient to test the controllability…

This paper describes a set of experiments involving small helicopters landing automated landing at unusual attitudes. By leveraging the increased agility of small air vehicles, we show that it is possible to automatically land a small…

We present an optimal hybrid control approach to the problem of stochastic route planning for sailing boats, especially in short course fleet races, in which minimum average time is an effective performance index. We show that the hybrid…

This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling…

This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

We propose a new approach to studying classical solutions of the Bellman equation and Master equation for mean field type control problems, using a novel form of the "lifting" idea introduced by P.-L. Lions. Rather than studying the usual…

The establishment of global helicopter linear model is very precious and useful for the design of the linear control laws, since it is never afforded in the published literatures. In the first principle approach, the mathematical model was…

Limited flight range is a common problem for multicopters. To alleviate this problem, we propose a method for finding the optimal speed and heading of a multicopter when flying a given path to achieve the longest flight range. Based on a…