6 accepted papers
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to mischaracterizing deformable objects as rigid and impassable. Instea…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field of view (FOV) of existing sensor technologies. In this pape…
This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching (AGRASP)represents a novel integration of robotics perception, vision-based path planning, and biomimetically-inspired manipulation on a small, lightweight ae…
This paper presents a method for closed-loop propulsion of a screw-type magnetic capsule with embedded Hall-effect sensors using a single rotating actuator magnet. The method estimates the six-degree-of-freedom (6-DOF) pose of the capsule while it is synchronously rotating with the applied field. It…
This paper presents a method to estimate the six-degree-of-freedom pose of a magnetic capsule, with an embedded permanent magnet and Hall-effect sensors, using a rotating dipole field. The method's convergence properties as a function of the number of distinct rotation axes of the applied field and
A variety of magnetic devices can be manipulated remotely using a single permanent “actuator” magnet positioned in space by a robotic manipulator. This paper presents the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical wrist used…