相关论文: Embodied Intelligence for Sustainable Flight: A So…
Autonomous drones must often respond to sudden events, such as alarms, faults, or unexpected changes in their environment, that require immediate and adaptive decision-making. Traditional approaches rely on safety engineers hand-coding…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
The operation of drones in cluttered environments and over extended areas demands adaptive flight capabilities to meet the opposing aerodynamic requirements of agile and fast cruise flight. High agility and maneuverability are required to…
Aerial robots the size of a honeybee (~100 mg) have advantages over larger robots because of their small size, low mass and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
Innovative ideas are continuously emerging to produce better life conditions where essential human needs are supposed to be fulfilled with perfect scenarios leading us to propose modern strategies drawing the future of smart cities. In this…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…
Dynamic soaring enables sustained flight by extracting energy from wind shear, yet it is commonly understood as a cycle-level maneuver that assumes stable flow conditions. In realistic unsteady environments, however, such assumptions are…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures that influence the aerodynamic forces, which can be…
Soaring birds gain energy from stable ascending currents or shear. However, it remains unclear whether energy loss due to drag can be overcome by extracting work from transient turbulent fluctuations. We designed numerical simulations of…