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Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
This paper presents a soft propelled arm, 3D-printed in TPU 70A, designed to be used in flexible UAVs, an advantageous concept since it reduces risk in the event of a collision thanks to a high energy absorption. The proposed design also…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
Collision avoidance algorithms are of central interest to many drone applications. In particular, decentralized approaches may be the key to enabling robust drone swarm solutions in cases where centralized communication becomes…
In real-world field operations, aerial grasping systems face significant challenges in dynamic environments due to strong winds, shifting surfaces, and the need to handle heavy loads. Particularly when dealing with heavy objects, the…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…
Sense and avoid capability enables insects to fly versatilely and robustly in dynamic complex environment. Their biological principles are so practical and efficient that inspired we human imitating them in our flying machines. In this…
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…
This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hybrid designs, Duawlfin eliminates the need for additional…
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been…