相关论文: Aggressive Visual Perching with Quadrotors on Incl…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…
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…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
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.…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…