相关论文: Range, Endurance, and Optimal Speed Estimates for …

Mobile robots are increasingly being used to assist with active pursuit and law enforcement. One major limitation for such missions is the resource (battery) allocated to the robot. Factors like nature and agility of evader, terrain over…

Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In…

Limited flight range is a common problem for multicopters. To alleviate this problem, we propose a method for finding the optimal speed and heading of a multicopter when flying a given path to achieve the longest flight range. Based on a…

Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…

Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since…

The traditional multicopter design method usually requires a long iterative process to find the optimal design based on given performance requirements. The method is uneconomical and inefficient. In this paper, a practical method is…

This paper presents an approach for estimating the operational range for mobile robot exploration on a single battery discharge. Deploying robots in the wild usually requires uninterrupted energy sources to maintain the robot's mobility…

Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…

Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the nature of multirotors, the payload loaded on the multirotor…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…

The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…

In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…

Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…

Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…