相关论文: Flying in air ducts

In an era of rapid urbanization and e-commerce growth, efficient parcel delivery methods are crucial. This paper presents a detailed study of the aerodynamics and sensing analysis of drones for parcel delivery. Utilizing Computational Fluid…

In this paper, the effective use of multiple quadrotor drones as an aerial antenna array that provides wireless service to ground users is investigated. In particular, under the goal of minimizing the airborne service time needed for…

In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to…

The application of unmanned aerial vehicles (UAVs) is surging across several industries, paralleled by growing demand for these UAVs. However, the noise emitted by UAVs remains a significant impediment to their widespread use even though in…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

The forthcoming era of massive drone delivery deployment in urban environments raises a need to develop reliable control and monitoring systems. While active solutions, i.e., wireless sharing of a real-time location between air traffic…

We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal…

How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…

Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…

Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…

As environmental disasters happen more frequently and severely, seeking the source of pollutants or harmful particulates using plume tracking becomes even more important. Plume tracking on small quadrotors would allow these systems to…

Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…

Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

Recent advances in robotics bring us closer to the reality of living, co-habiting, and sharing personal spaces with robots. However, it is not clear how close a co-located robot can be to a human in a shared environment without making the…

Performing acrobatic maneuvers with quadrotors is extremely challenging. Acrobatic flight requires high thrust and extreme angular accelerations that push the platform to its physical limits. Professional drone pilots often measure their…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…

We propose the use of basic inertial measurement units (IMU) which contain sensors such as accelerometers and gyroscopes already on-board drones to detect the speed and direction of wind gusts. The ability to quickly sense wind gusts has…