相关论文: Ground and Flight Locomotion for Two-Wheeled Drone…
This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hybrid designs, Duawlfin eliminates the need for additional…
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Navigating in search and rescue environments is challenging, since a variety of terrains has to be considered. Hybrid driving-stepping locomotion, as provided by our robot Momaro, is a promising approach. Similar to other locomotion…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
Model Predictive Path Integral (MPPI) control is a powerful sampling-based strategy for nonlinear autonomous systems. However, its performance is often bottlenecked by the fidelity of nominal dynamics. We propose ICODE-MPPI, a robust…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
In this paper we develop a Model Predictive Path Integral (MPPI) control algorithm based on a generalized importance sampling scheme and perform parallel optimization via sampling using a Graphics Processing Unit (GPU). The proposed…