相关论文: Sequential Manipulation Planning for Over-actuated…

We consider the problem of active and sequential beam tracking at mmWave frequencies and above. We focus on the dynamic scenario of a UAV to UAV communications where we formulate the problem to be equivalent to tracking an optimal…

Unmanned aerial vehicles (UAVs) are emerging in commercial spaces and will support many applications and services, such as smart agriculture, dynamic network deployment, and network coverage extension, surveillance and security. The…

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…

This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…

An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple…

Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…

Urban Air Mobility (UAM) promises a new dimension to decongested, safe, and fast travel in urban and suburban hubs. These UAM aircraft are conceived to operate from small airports called vertiports each comprising multiple take-off/landing…

Urban air mobility (UAM) is a transformative system that operates various small aerial vehicles in urban environments to reshape urban transportation. However, integrating UAM into existing urban environments presents a variety of complex…

Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…

We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…

Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…

Learning-based control methods for industrial processes leverage the repetitive nature of the underlying process to learn optimal inputs for the system. While many works focus on linear systems, real-world problems involve nonlinear…

This paper presents an unsupervised approach that leverages raw aerial videos to learn to estimate planar homographic transformation between consecutive video frames. Previous learning-based estimators work on pairs of images to estimate…

A novel framework is proposed for quality of experience (QoE)-driven deployment and dynamic movement of multiple unmanned aerial vehicles (UAVs). The problem of joint non-convex three-dimensional (3D) deployment and dynamic movement of the…

Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…

The number of daily small Unmanned Aircraft Systems (sUAS) operations in uncontrolled low altitude airspace is expected to reach into the millions. UAS Traffic Management (UTM) is an emerging concept aiming at the safe and efficient…