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Navigating densely vegetated environments poses significant challenges for autonomous ground vehicles. Learning-based systems typically use prior and in-situ data to predict terrain traversability but often degrade in performance when…
The integration of unmanned aerial vehicles (UAVs) into wireless communication systems has emerged as a transformative approach, promising cost-efficient connectivity. This paper addresses the optimization of the dynamic time-splitting…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
The use of flying platforms such as unmanned aerial vehicles (UAVs), popularly known as drones, is rapidly growing. In particular, with their inherent attributes such as mobility, flexibility, and adaptive altitude, UAVs admit several key…
Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct…
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data…
Over the past few decades, biomimetic robotic experiments have significantly advanced our understanding of undulatory swimming. Compared to animal experiments, robotic experiments offer repeatability and controlled parameter variations, but…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
With the rising popularity of UAVs in the civilian world, we are currently witnessing and paradim shift in terms of operational safety of flying vehicles. Safe and ubiquitous human-system interaction shall remain the core requirement but…
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effects -- as might be experienced in post-stall regimes or…
As an emerging field of aerial robotics, Unmanned Aerial Vehicles (UAVs) have gained significant research interest within the wireless networking research community. As soon as national legislations allow UAVs to fly autonomously, we will…
The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor…