相关论文: MOMAV: A highly symmetrical fully-actuated multiro…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
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.…
Recently, an unmanned aerial vehicle (UAV), as known as drone, has become an alternative means of package delivery. Although the drone delivery scheduling has been studied in recent years, most existing models are formulated as a single…
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
Stop-rotor aircraft have long been proposed as the ideal vertical takeoff and landing (VTOL) aircraft for missions with equal time spent in both flight regimes, such as agricultural monitoring, search and rescue, and last-mile delivery.…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost.…
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…
Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…
Flight control for autonomous micro aerial vehicles (MAVs) is evolving from steady flight near equilibrium points toward more aggressive aerobatic maneuvers, such as flips, rolls, and Power Loop. Although reinforcement learning (RL) has…
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, which optimise over the full rigid-body dynamics of the…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
A heterogeneous micro aerial vehicles (MAV) swarm consists of resource-intensive but expensive advanced MAVs (AMAVs) and resource-limited but cost-effective basic MAVs (BMAVs), offering opportunities in diverse fields. Accurate and…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Smart Micro Aerial Vehicles (MAVs) have transformed infrastructure inspection by enabling efficient, high-resolution monitoring at various stages of construction, including hard-to-reach areas. Traditional manual operation of drones in…