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Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…

In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…

This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…

Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…

When autonomous systems are deployed in real-world scenarios, sensors are often subject to limited field-of-view (FOV) constraints, either naturally through system design, or through unexpected occlusions or sensor failures. In conditions…

We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…

We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…

Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…

Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments…