相关论文: Towards An Adaptive Compliant Aerial Manipulator f…

In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp…

Unmanned aerial vehicle (UAV)-based integrated sensing and communication (ISAC) systems are poised to revolutionize next-generation wireless networks by enabling simultaneous sensing and communication (S\&C). This survey comprehensively…

As an autonomous vehicles, Unmanned Aerial Vehicles (UAVs) are subjected to several challenges. One of the challenges is for UAV to be able to avoid collision. Many collision avoidance methods have been proposed to address this issue.…

Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…

This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…

This paper is concerned with learning transferable contact models for aerial manipulation tasks. We investigate a contact-based approach for enabling unmanned aerial vehicles with cable-suspended passive grippers to compute the attach…

Cooperating small-scale Unmanned Aerial Vehicles (UAVs) will open up new application fields within next-generation Intelligent Transportation Sytems (ITSs), e.g., airborne near field delivery. In order to allow the exploitation of the…

In this paper, we investigate the operation of an aerial manipulator system, namely an Unmanned Aerial Vehicle (UAV) equipped with a controllable arm with two degrees of freedom to carry out actuation tasks on the fly. Our solution is based…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…

The usage of beamforming in Unmanned Aerial Vehicles (UAVs) has the potential of significantly improving the air-to-ground link quality. This paper presents the outcome of experimental trial of such a UAV-based beamforming system over live…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

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…

Unmanned Aerial Vehicle (UAV) technology is becoming more prevalent and more diverse in its application. 5G and beyond networks must enable UAV connectivity. This will require the network operator to consider this new type of user in the…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…