9 accepted papers
In-proximity effects (IPE) in 3D, specifically in-ground, in-ceiling, and in-wall effects, experienced by a rotary-wing aerial robot as it flies near obstacles are leveraged for obstacle distance estimation and collision-free motion control. Onboard motor commands and inertial measurement unit (IMU)
This letter presents an image-based approach that enables an aerial robot with a cable-suspended mechanism to find a payload with unknown mass, pick it up, transport it, and then put it down at a new location. The pick and place task is performed with minimum cable-swing angle. A new process is pres
This paper presents the design, modeling, analysis, and experimental validation of an inductive resonant wireless power transfer (WPT) system to power a micro aerial vehicle (MAV). Using WPT, in general, enables longer flight times, virtually eliminates the need for batteries, and minimizes down tim…
This paper presents the design, fabrication, modeling, and performance characterization of a new 3D-printed ionic polymer-metal composite (IPMC) soft crawling robot. First, a precursor to an ionomeric polymer material (Nafion) is used to 3D print modular leg and body sections to create a caterpillar…
This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach…
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV define…
This paper describes the development of a flying and walking robot, called the dynamic underactuated flying-walking (DUCK) robot. The DUCK robot combines a high-mobility flying platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly
This paper presents the design, fabrication, modeling, and demonstration of a micro spherical rolling and flying robot, with a total mass and payload of 35 g and 10 g, respectively. The micro aerial terrestrial robot (ATR) has the ability to fly through the air or roll on the ground, for application…
This paper presents a stochastic approach for automatic collision avoidance for tele-operated unmanned aerial vehicles (UAVs). Collision detection and mitigation in the presence of uncertainty is an important problem to address because on-board sensing and state estimation uncertainties are inherent…