相关论文: Robust, Perception Based Control with Quadrotors

The difficulty of optimal control problems has classically been characterized in terms of system properties such as minimum eigenvalues of controllability/observability gramians. We revisit these characterizations in the context of the…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

This paper presents a robust model predictive control (MPC) framework that explicitly addresses the non-Gaussian noise inherent in deep learning-based perception modules used for state estimation. Recognizing that accurate uncertainty…

Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…

This paper explores the application of vision-based system identification techniques in quadrotor modeling and control. Through experiments and analysis, we address the complexities and limitations of quadrotor modeling, particularly in…

Extended Reality (XR) systems deployed in industrial and operational settings rely on Visual--Inertial Odometry (VIO) for continuous six-degree-of-freedom pose tracking, yet these environments often involve sensing conditions that deviate…

In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the quadrotor dynamics is considered as a perceptive supplement of the inertial kinematics. To improve the…

Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…

Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…

Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…

Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time…

We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leading to ambiguous association and under-constrained…

Virtual Oscillator (VO) control is the latest and promising control technique for grid-forming and grid-supporting inverters. VO Controllers (VOCs) provide time-domain synchronization with a connected electrical network. At the same time, a…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

We propose a robust data-driven output feedback control algorithm that explicitly incorporates inherent finite-sample model estimate uncertainties into the control design. The algorithm has three components: (1) a subspace identification…