相关论文: Human Physical Interaction based on UAV Cooperativ…

This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…

A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real…

The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Nevertheless, the operation of a dual-arm manipulator poses a dynamic…

This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…

Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…

Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

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 various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…

This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…

Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…