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Continuous-Time Three-Dimensional Mapping for Micro Aerial Vehicles with a Passively Actuated Rotating Laser Scanner
2015
Journal of Field Robotics
Preserved Fulltext
A key feature of the system is a novel passively driven mechanism to rotate a lightweight 2D laser scanner using the rotor downdraft from a quadcopter. ...
The ability to generate accurate and detailed three-dimensional (3D) maps of a scene from a mobile platform is an essential technology for a wide variety of applications from robotic navigation to geological ...
DISCUSSION The aim of the presented work has been to develop a passively actuated mechanism to enable 3D perception with a 2D laser scanner on a quadrotor MAV and to use our existing SLAM solution to generate ...
doi:10.1002/rob.21614
fatcat:2jn5jeqj7nh6bpvi4672vjqzd4
An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad
2019
Sensors
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In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. ...
The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. ...
Acknowledgments: The authors would like to thank Rongwei Li and Qi Xiao for their contribution on the practical experiment configuration. ...
doi:10.3390/s19214703
pmid:31671894
pmcid:PMC6874798
fatcat:3oxmj4g2mrgktmnd7lu42bciji
On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor
2012
Autonomous Robots
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passively compliant manipulator is designed for effective gripping under uncertainty. ...
The system utilizes nested controllers for attitude stabilization, vision-based navigation, and guidance, with the navigation controller implemented using a nonlinear controller based on the sigmoid function ...
Our work addresses the problem of landing aggressively on inclined surfaces using onboard sensing without the use of an active/passive perching mechanism. ...
doi:10.1007/s10514-012-9286-z
fatcat:slhlcjp6c5hczbhg7sknhbyd74
Robust Vision-Based Control of a Rotorcraft UAV for Uncooperative Target Tracking
2020
Sensors
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Further, a gain-switching proportional-derivative (PD) control scheme is proposed to compensate for the external interference and model uncertainties. ...
A vision-based strategy integrating the metrology and the control is employed to achieve target tracking and hovering observation. ...
The quadrotor is a typical underactuated mechanism with more degrees of freedom than actuations. ...
doi:10.3390/s20123474
pmid:32575594
pmcid:PMC7349838
fatcat:mnvnkx7y35gj7nkopvhtg5qus4
2021 Index IEEE Robotics and Automation Letters Vol. 6
2021
IEEE Robotics and Automation Letters
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The Author Index contains the primary entry for each item, listed under the first author's name. ...
Schperberg, A., +, LRA Oct. 2021 8086-8093 Scene Coordinate Regression Network With Global Context-Guided Spatial Feature Transformation for Visual Relocalization. ...
., +, LRA July 2021 5145-5152 Data-Driven MPC for Quadrotors. Torrente, G., +, LRA April 2021 3769-3776 Design of the High-Payload Flapping Wing Robot E-Flap. ...
doi:10.1109/lra.2021.3119726
fatcat:lsnerdofvveqhlv7xx7gati2xu
2021 International Conference on Unmanned Aircraft Systems - Final program
2021
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
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I offer my best wishes for a successful and productive event, I look forward to seeing all of you, physically or virtually, in Athens, Greece, and I also look forward to continuing working with you. ...
The Association's web has been modernized and updated to include important links with information items; visit www.icuas.com for details. ...
For appearance-based detection, motion is tracked with Yolo V3 detection algorithm. ...
doi:10.1109/icuas51884.2021.9476682
fatcat:crdrcczqlbaebncnd76b47hfsu
Table of Contents
2020
IEEE Robotics and Automation Letters
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Liu 3066 Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Featherstone 1183 DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms
and G. ...
doi:10.1109/lra.2020.2987582
fatcat:3qafzip5xrg5jliyngq4xxvjha
Table of Contents
2021
IEEE Robotics and Automation Letters
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Kwon 5736 Scene Coordinate Regression Network With Global Context-Guided Spatial Feature Transformation for Visual Relocalization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Ghaffari, Tahara 4883 Passive Flow Control for Series Inflatable Actuators: Application on a Wearable Soft-Robot for Posture Assistance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.1109/lra.2021.3095987
fatcat:uyk6vlvv45hifbzj4ruzdi6w54
Table of Contents
2022
IEEE Robotics and Automation Letters
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Asada Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Rai A Novel Passive Shoulder Exoskeleton Designed With Variable Stiffness Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.1109/lra.2022.3165102
fatcat:enjzebowe5hn7hsfwklc7nieuy
2020 Index IEEE Robotics and Automation Letters Vol. 5
2020
IEEE Robotics and Automation Letters
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., +, LRA Oct. 2020 5645-5652 Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. ...
., +, LRA July 2020 4556-4563
Differential Flatness Based Path Planning With Direct Collocation on
Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. ...
doi:10.1109/lra.2020.3032821
fatcat:qrnouccm7jb47ipq6w3erf3cja
Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan
[article]
2020
arXiv
pre-print
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In this paper we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmospheres ...
By attaching and detaching with each other, multiple Cobots can shape-shift into novel structures, capable of (a) rolling on the surface, to increase the traverse range, (b) flying in a flight array formation ...
The research was partially carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. ...
arXiv:2002.00515v1
fatcat:tz62vuth7fdrzkgploohaqdvwu
Marine Locomotion: A Tethered UAV-Buoy System with Surge Velocity Control
[article]
2021
arXiv
pre-print
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In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. ...
A detailed high-fidelity dynamic model is presented for the buoy, UAV, and water environment. ...
water surface disruption [28] , we are proposing the employment of a quadrotor UAV to manipulate a passive floating object via a cable, whereby the quadrotor performs the function of a locomotive. ...
arXiv:2107.14662v1
fatcat:56rjzefrhzborez3yhwvw4epte
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
[article]
2020
arXiv
pre-print
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other bodies with atmospheres. ...
of a mission to the Sotra-Patera region on Titan; (b) to verify the mechanical and algorithmic feasibility of building a multi-agent platform capable of flying, docking, rolling and un-docking; (c) to ...
Acknowledgement: The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. ...
arXiv:2003.08293v1
fatcat:4u55de7yxvdfvd7lsep5k5wkti
Reconfigurable swarm robots for structural health monitoring: a brief review
2017
International Journal of Intelligent Robotics and Applications
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and assessment of civil and mechanical systems. ...
A roadmap for future research has also been outlined based on the limitations of the current methods and anticipated needs of future inspection systems. ...
It can carry payloads with satisfactory speed with backward, forward and sidewise movement. ...
doi:10.1007/s41315-017-0024-8
dblp:journals/ijira/JahanshahiSMAMQ17
fatcat:66oqqtfub5bwrmbgurtt2feolm
Multiple Mobile Robot Systems
[chapter]
2016
Springer Handbook of Robotics
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Passive action recognition is appealing because it does not depend upon a limited-bandwidth, fallible communication mechanism. ...
In this work, a hardware design is proposed that defines passive building blocks, along with an assembler robot that constructs structures with the robots. ...
doi:10.1007/978-3-319-32552-1_53
fatcat:rijl5w2zuvfyhjyx3drntjwvam
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