相关论文: Quadcopter Position Hold Function using Optical Fl…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

We present POD, a smartphone that flies, as a new way to achieve hands-free, eyes-up mobile computing. Unlike existing drone-carried user interfaces, POD features a smartphone-sized display and the computing and sensing power of a modern…

We measure the vertical velocities of elevators, pedestrians climbing stairs, and drones (flying unmanned aerial vehicles), by means of smartphone pressure sensors. The barometric pressure obtained with the smartphone is related to the…

Smartphone cameras today are increasingly approaching the versatility and quality of professional cameras through a combination of hardware and software advancements. However, fixed aperture remains a key limitation, preventing users from…

An aircraft cabin is used as a laboratory for studying the atmospheric pressure during a flight. All the different steps of the flight: take-off, cruise altitude climbing and landing are monitored with the use of the pressure sensor of a…

Optical Flow (OF) is the movement pattern of pixels or edges that is caused in a visual scene by the relative motion between an agent and a scene. OF is used in a wide range of computer vision algorithms and robotics applications. While the…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

We propose and implement a novel indoor localization scheme, Swadloon, built upon an accurate acoustic direction finding. Swadloon leverages sensors of the smartphone without the requirement of any specialized devices. The scheme Swadloon…

Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…

Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…

Nano quadcopters are small, agile, and cheap platforms that are well suited for deployment in narrow, cluttered environments. Due to their limited payload, these vehicles are highly constrained in processing power, rendering conventional…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

A lot of work has been done to reach the best possible performance of predictive models on images. There are fewer studies about the resilience of these models when they are trained on image datasets that suffer modifications altering their…

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…

This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…

In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…