相关论文: Technical Report on: Anchoring Sagittal Plane Temp…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open challenge. This paper builds upon a state-of-the-art approach,…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

We propose a joint simulation and real-world learning framework for mapping navigation instructions and raw first-person observations to continuous control. Our model estimates the need for environment exploration, predicts the likelihood…

This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…

The next generation of space systems will have to achieve more and more complex missions. In order to master the development cost and duration of such systems, an alternative to a manual design is to automatically synthesize the main…

The Crab region was observed several times by INTEGRAL for calibration purposes. This paper aims at underlining the systematic interactions between (i) observations of this reference source, (ii) in-flight calibration of the instrumental…

We present a methodological framework aiming at the support of HCI practitioners and researchers in selecting and applying the most appropriate combination of HCI methods for particular problems. We highlight the need for a clear and…

Smart Contract Templates support legally-enforceable smart contracts, using operational parameters to connect legal agreements to standardised code. In this paper, we explore the design landscape of potential formats for storage and…

In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…

Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…

A general precedure is outlined for an algorithmic implementation of the strong coupling expansion of lattice chiral models on arbitrary lattices. A symbolic character expansion in terms of connected values of group integrals on skeleton…

A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease…

Planar spin-transfer devices with dominating easy-plane anisotropy can be described by an effective one-dimensional equation for the in-plane angle. Such a description provides an intuitive qualitative understanding of the magnetic…

This technical description details the design and engineering process of a semi-autonomous robotic partition. This robotic partition prototype was subsequently employed in a longer-term evaluation in-the-wild study conducted by the authors…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

Local linearization is highlighted to explain the success of the orbital approximation in positive response to Scerri's comments on the electronic configuration model. The relevance of Rydberg states is made clear.

This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…

This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…

In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…