9 accepted papers
This paper delves into the fusion of quantum computing and robotics, focusing on motion planning in cluttered environments. Traditional algorithms struggle with complex problems where many constraints need to be satisfied. Hence, optimization-based approaches such as Constrained Quadratic Models (CQ
This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face significant computational challenges and lack robustness in dynami
We propose a learned probabilistic neural policy for safe, occlusion-free target tracking. The core novelty of our work stems from the structure of our policy network that combines generative modeling based on Conditional Variational Autoencoder (CVAE) with differentiable optimization layers. The we
Catheter-based cardiac interventions have substantially improved the efficacy of the treatment. However, catheter navigation still poses several challenges including its poor visualization and localisation. Therefore, various imaging methods have been used to localize the catheter and estimate its s
This study presents a general framework for the dynamic analysis of tendon-driven co-manipulative continuum robots with flexible objects. Hence, the actuations of the arms have been provided by <i>bending</i>. Furthermore, the object is modeled as a flexible rod to account for the flexibility of the
Rotary-wing flying machines draw attention within the UAV community for their in-place hovering capability, and recently, holonomic motion over fixed-wings. In this paper, we investigate about the power-optimality in a mono-spinner, i.e., a class of rotary-wing UAVs with one rotor only, whose main b…
The seminal work cited in [1],[2] showed, for the first time, that flight stability of quadcopters would be possible in case of one or even multiple rotor failures. However, the quadcopter can remain airborne only by going through a spinning maneuver about an axis, fixed w.r.t the vehicle (i.e., res…
In this letter, we present cooperative continuum robot (CCR) concept, kineto-static analysis, and model validation. Our motivation is to provide increased reachability and maneuverability required in a wide range of continuum robot applications, such as medical interventions. We present a model for
A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease of control, despite the fact that they fall under an under-a…