相关论文: Aerial Grasping with Soft Aerial Vehicle Using Dis…

In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…

In recent years, high-speed navigation and environment interaction in the context of aerial robotics has become a field of interest for several academic and industrial research studies. In particular, Search and Intercept (SaI) applications…

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…

Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…

This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…

Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost.…

UAV tracking can be widely applied in scenarios such as disaster rescue, environmental monitoring, and logistics transportation. However, existing UAV tracking methods predominantly emphasize speed and lack exploration in semantic…

We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…

This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…

This work considers unmanned aerial vehicle (UAV) networks for collecting data covertly from ground users. The full-duplex UAV intends to gather critical information from a scheduled user (SU) through wireless communication and generate…

Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…

This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…

Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current.…

This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…

This work introduces a novel analytical model for estimating the airspeed of fixed-wing Unmanned Aerial Vehicles (UAVs) using solely propeller power and rotational speed measurements. The model can be used to replace Pitot-tube-based…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often…

Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…