相关论文: Flexbee: A Grasping and Perching UAV Based on Soft…
Nano-size unmanned aerial vehicles (UAVs), with few centimeters of diameter and sub-10 Watts of total power budget, have so far been considered incapable of running sophisticated visual-based autonomous navigation software without external…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…
Bird's-eye View (BeV) representations have emerged as the de-facto shared space in driving applications, offering a unified space for sensor data fusion and supporting various downstream tasks. However, conventional models use grids with…
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of…
Aerial transportation requires a simple yet reliable gripper for picking and placing objects of interest. In this work, we design an aerial gripper for passive grasping and impulsive release of ferrous coated objects. Permanent magnets are…
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
Unmanned Aerial Vehicles (UAVs) have emerged as versatile tools across various sectors, driven by their mobility and adaptability. This paper introduces SkyVLN, a novel framework integrating vision-and-language navigation (VLN) with…
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics has been the fabrication of robotic exoskeletons that can…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an…
Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…