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Continuous-Time Three-Dimensional Mapping for Micro Aerial Vehicles with a Passively Actuated Rotating Laser Scanner

Lukas Kaul, Robert Zlot, Michael Bosse
2015 Journal of Field Robotics  
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

Liu, Zhang, Tian, Liu
2019 Sensors  
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

Vaibhav Ghadiok, Jeremy Goldin, Wei Ren
2012 Autonomous Robots  
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

Shijie Zhang, Xiangtian Zhao, Botian Zhou
2020 Sensors  
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  
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)  
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  
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  
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  
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  
., +, 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]

Andrea Tagliabue, Stephanie Schneider, Marco Pavone, Ali-akbar Agha-mohammadi
2020 arXiv   pre-print
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]

Ahmad Kourani, Naseem Daher
2021 arXiv   pre-print
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]

Ali-akbar Agha-mohammadi, Stephanie Schneider , Issa A.D. Nesnas, Alessandra Babuscia Jet Propulsion Lab., California Institute of Technology and Sanford University and
2020 arXiv   pre-print
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

Mohammad R. Jahanshahi, Wei-Men Shen, Tarutal Ghosh Mondal, Mohamed Abdelbarr, Sami F. Masri, Uvais A. Qidwai
2017 International Journal of Intelligent Robotics and Applications  
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]

Lynne E. Parker, Daniela Rus, Gaurav S. Sukhatme
2016 Springer Handbook of Robotics  
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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