相关论文: Experimental Low-speed Positioning System with Vec…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical inverse kinematics on 7-DoF arms often yields…
In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Autonomous landing of UAVs in high sea states requires the UAV to land exclusively during the ship deck's "rest period," coinciding with minimal movement. Given this scenario, determining the ship's "rest period" based on its movement…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…
A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…
We investigate a concept of passive, vibration-driven locomotion, in which a mechanical system achieves horizontal self-propulsion by resonantly harvesting energy from vertical environmental excitations (e.g. ambient vibrations of…
Vortex-Induced Vibrations (VIVs) of cylindrical structures present significant challenges in various engineering applications, including marine risers, tall buildings, and renewable energy systems. Hence, it is vital to control…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The…
Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic control surfaces face the challenge of limited control…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like…
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to…
Nonlinear unsteady vortex lattice-vortex particle methods (NL-UVLM-VPM) provide medium-fidelity predictions of rotorcraft aerodynamics with explicit three-dimensional wake representations at a moderate computational cost. This study…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…