相关论文: ROScopter: A Multirotor Autopilot based on ROSflig…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying…
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…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the performance of more complicated inspection tasks and the…
Autonomous racing offers a rigorous setting to stress test perception, planning, and control under high speed and uncertainty. This paper proposes an approach to design and evaluate a software stack for an autonomous race car in CARLA: Car…
This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that enables rapid transformation into an ultra-narrow profile.…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them. The design includes a dedicated component, named Reference…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…
The DARPA Subterranean Challenge is leading the development of robots capable of mapping underground mines and tunnels up to 8km in length and identify objects and people. Developing these autonomous abilities paves the way for future…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…