20 accepted papers
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable operation, particularly during aggressive flight maneuvers or r…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained radar-inertial odometry and mapping that jointly consolidates point a
Accurate traversability assessment is critical for mobile robot motion planning, yet sensor occlusions and model limitations often compromise cost map reliability. Therefore, analyzing spatial uncertainty is essential for robust risk management. We propose a novel Maximum Entropy Deep Inverse Reinfo…
We introduce UMI-on-Air, a framework for embodiment-aware deployment of embodiment-agnostic manipulation policies. Our approach leverages diverse, unconstrained human demonstrations collected with a handheld gripper (UMI) to train generalizable visuomotor policies. A central challenge in transferrin…
Lifelong mapping is crucial for the long-term deployment of robots in dynamic environments. In this paper, we present ELite, an ephemerality-aided LiDAR-based lifelong mapping framework which can seamlessly align multiple session data, remove dynamic objects, and update maps in an end-toend fashion.
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial manipulator interacting with both static and dynamic structures.
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from a ferromagnetic surface during flight, and a switching cont…
The objective of text-to-image (T2I) personalization is to customize a diffusion model to a user-provided reference concept generating diverse images of the concept aligned with the target prompts. Conventional methods representing the reference concepts using unique text embeddings often fail to ac…
The use of aerial manipulators for safe and efficient physical interaction with their surrounding environments has been gaining attention within the aerial robotics research community. In this letter, we present an image-based time-varying force tracking controller for an aerial manipulator conducti
This letter presents a new cargo transportation solution based on physical human-robot interaction utilizing a novel fully-actuated multirotor platform called Palletrone. The platform is designed with a spacious upper flat surface for easy cargo loading, complemented by a rear-mounted handle reminis
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and the size of the cargo to be loaded is limited. To overcome
This study presents a globally defined dynamics for a conventional multirotor equipped with a single n\mathbf{-DOF}n\mathbf{-DOF} manipulator using modified Lagrangian dynamics. This enables the reformulation of entire dynamics directly on \text{SO}(3)\text{SO}(3) without exploiting any local coordi…
This study presents a new hardware design and control of a minimally actuated 5 control degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses several characteristics distinct from those found in existing works, including: 1) minimal number of actuators for 5 CDoF, 2)…
This letter deals with the problem of an aerial manipulator pushing a movable structure. Contrary to physical interaction with a static structure, suitable consideration of the interacting force during the motion of the structure is required to stably perform this movable structure interaction. To a
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time optimization-based trajectory planning of a hydraulic excavator. T…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing with uncertainties, a motion planner must update its traject…
In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The abrupt change in the dynamical model before and after the separa…
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipul…
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…
In this paper, we introduce a cargo transportation method with a new type of multi-rotor UAV platform known as T3-multirotor, to achieve stable and constant flight performance regardless of the type of cargo attached to the fuselage. The T3-multirotor, which consists of the `Thrust Generating Part'…