相关论文: Assisted Control for Semi-Autonomous Power Infrast…

Infrastructure inspection is a very costly task, requiring technicians to access remote or hard-to-reach places. This is the case for power transmission towers, which are sparsely located and require trained workers to climb them to search…

This paper addresses the problem of management and coordination of energy resources in a typical microgrid, including smart buildings as flexible loads, energy storages, and renewables. The overall goal is to provide a comprehensive and…

The increasing deployment of end use power resources in distribution systems created active distribution systems. Uncontrolled active distribution systems exhibit wide variations of voltage and loading throughout the day as some of these…

Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

This paper explores the use of autonomous unmanned vehicles to support power grid operations. With built-in batteries and the capability to carry additional battery energy storage, the rising number of autonomous vehicles can represent a…

In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…

Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensive inertial navigation systems or by employing…

Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…

In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…

The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…

Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face critical limitations, including unreliable perception of…

In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we employ multiple low-cost ultrasonic sensors to detect a wide…

Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…

Infrastructure assistance has been proposed as a viable solution to improve the capabilities of commercial Unmanned Aerial Vehicles (UAV), especially toward fully autonomous operations. The airborne nature of these devices imposes…

Commercial weather stations can effectively collect weather data for a specified area. However, their ground sensors limit the amount of data that can be logged, thus failing to collect precise meteorological data in a local area such as a…

Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…

This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…

Data collection in massive Internet of Things networks requires novel and flexible methods. Unmanned aerial vehicles (UAVs) are foreseen as a means to collect data rapidly even in remote areas without static telecommunication…

This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…