9 accepted papers
Guaranteeing safety of robotic systems is essential for a reliable operation. A funnel, the set of states that can be reached from the initial set of states in the presence of disturbances, can be used as a means of safety verification. This letter presents a tractable algorithm for computing the fu
This letter deals with the problem of multiple robots working together to explore and gather at the global maximum of the unknown field. Given noisy sensor measurements obtained at the location of robots with no prior knowledge about the environmental map, Gaussian process regression can be an effic
This letter presents real-time optimization algorithms on trajectory generation and control for a multi-rotor with a suspended load. Since the load is suspended through a cable without any actuator, movement of the load must be controlled via maneuvers of the multi-rotor, which brings about difficul
Planning a trajectory with guaranteed safety is a core part for a risk-free flight of a multirotor. If a trajectory planner only aims to ensure safety, it may generate trajectories which overly bypass risky regions and prevent the system from achieving specific missions. This work presents a robust…
This study addresses an operation of unmanned aerial vehicles (UAVs) in a network environment where there is time-varying network delay. The network delay entails undesirable effects on the stability of the UAV control system due to delayed state feedback and outdated control input. Although several…
This paper presents planning and control algorithms for a multi-rotor with a suspended load. The suspended load cannot be controlled easily by the multi-rotor due to severe dynamic coupling between them. Difficulties are exacerbated by under-actuated, highly nonlinear nature of multi-rotor dynamics.…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial segmentation first generates several motion hypotheses by using a…
Ensuring safety in trajectory planning of multirotor systems is an essential element for risk-free operation. Even if the generated trajectory is known to be safe in the planning phase, unknown disturbance during an actual operation can lead to a dangerous situation. This paper proposes safety-guara…
This paper investigates a multi-rotor with a suspended load in perspectives of 1) real-time path planning, 2) obstacle avoidance, and 3) transportation of a suspended object. A suspended load cannot be controlled with conventional controllers designed for nominal multi-rotors due to the dynamic coup…