相关论文: Evaluation of a Skill-based Control Architecture f…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
With an increasing degree of automation, automated vehicle systems become more complex in terms of functional components as well as interconnected hardware and software components. Thus, holistic systems engineering becomes a severe…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In…
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…
Operators performing high-stakes, safety-critical tasks - such as air traffic controllers, surgeons, or mission control personnel - must maintain exceptional cognitive performance under variable and often stressful conditions. This paper…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
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…
Autonomous inspection systems are essential for ensuring the performance and longevity of industrial assets. Recently, agentic frameworks have demonstrated significant potential for automating inspection workflows but have been limited to…
This paper surveys the area of Trust Metrics related to security for autonomous robotic systems. As the robotics industry undergoes a transformation from programmed, task oriented, systems to Artificial Intelligence-enabled learning, these…
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobility. Despite their potential, the critical phases of…