相关论文: Docking Multirotors in Close Proximity using Learn…

The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by…

This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely…

We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…

This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…

In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…

In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…

Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master this flight skill in simulation, where a neural network…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

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…

Simulating realistic radar data has the potential to significantly accelerate the development of data-driven approaches to radar processing. However, it is fraught with difficulty due to the notoriously complex image formation process. Here…

This paper addresses the problem of appearance matching across different challenges while doing visual face tracking in real-world scenarios. In this paper, FaceTrack is proposed that utilizes multiple appearance models with its long-term…

The short-loading cycle is a repetitive task performed in high quantities, making it a great alternative for automation. In the short-loading cycle, an expert operator navigates towards a pile, fills the bucket with material, navigates to a…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…