相关论文: Folding Knots Using a Team of Aerial Robots

Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…

Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combinations of knots and multiple interwoven segments. Prior works…

We discuss the possibility of the existence of finite algorithms that may give distinct knot classes. In particular we present two attempts for such algorithms which seem promising, one based on knot projections on a plane, the other on…

Multimodal UAVs (Unmanned Aerial Vehicles) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding…

Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…

This paper explores the problem of unknotting closed braids and classical knots in mathematical knot theory. We apply evolutionary computation methods to learn sequences of moves that simplify knot diagrams, and show that this can be…

The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…

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…

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…

Consider a robot that remembers only the starting position and walks along a knot once on a knot diagram, switching every undercrossing it meets until it returns to the starting position. We observe that the robot produces an ascending…

In mathematics, a knot is a single strand of string crossed over itself any number of times, and connected at the ends. The Reidemeister Moves have been proven to be the three core moves necessary to fully untangle a knot. Some knots can be…

We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…

Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…

Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…

Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…

This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves the way for a paradigm shift where energetically efficient…

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…

Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…