相关论文: Collaborative Object Transportation Using MAVs via…

This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…

Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…

This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…

This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…

Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…

Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…

Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…

In this paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…

We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…

With the advent of Unmanned Aerial Vehicles (UAV) and Micro Aerial Vehicles (MAV) in commercial sectors, their application for transporting and manipulating payloads has attracted many research work. A swarm of agents, cooperatively working…

Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…

This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…

This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial…