21 accepted papers
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal resolution compared to intensity cameras. Recent work has focused on fusing the event measurements with inertial measurements to enable ego-motion estimation in high-speed and HDR environments. However, existing
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal resolution compared to intensity cameras. Recent work has focused on fusing the event measurements with inertial measurements to enable ego-motion estimation in high-speed and HDR environments. However, existing …
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the aerial robotics, which negatively affects the clo…
Driving style refers to the behavioral preferences that drivers maintain during driving, shaped by their diverse experiences, habits, and needs, and is typically reflected in varying levels of aggressiveness. If humans choose to use autonomous driving systems, they would expect the driving style of
Driving style refers to the behavioral preferences that drivers maintain during driving, shaped by their diverse experiences, habits, and needs, and is typically reflected in varying levels of aggressiveness. If humans choose to use autonomous driving systems, they would expect the driving style of …
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the aerial robotics, which negatively affects the clo
Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across different task scenarios. To address these challenges, we prop
Autonomous fine manipulation in space for orbital assembly continues to present a critical challenge in the field of aerospace engineering. Under low-gravity conditions, during satellite manipulator operations on free-floating objects, the absence of significant gravitational forces and friction con
Imitation learning attracts much attention for its ability to allow robots to quickly learn human manipulation skills through demonstrations. However, in the real world, human demonstrations often exhibit random behavior that is not intended by humans. Collecting high-quality human datasets is both
Recent works have combined monocular event camera and inertial measurement unit to estimate the SE(3) trajectory. However, the asynchronicity of event cameras brings a great challenge to conventional fusion algorithms. In this paper, we present an asynchronous event-inertial odometry under a unified…
This paper researches a novel global terminal sliding mode control(GTSMC) on a tethered satellites system(TSS) under outer disturbances, and the effect of PI/PD compensation in restraining chattering on sliding surface is appended. By taking advantage of the finite-time convergence of traditional te…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft organization has the advantages of reconfigurability, fast mission…
Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality, and the inefficiency of existing learning methods. Therefore,…
Peg-hole-insertion processes of diverse shapes are typical contact-rich tasks, which need the accurate representation of object's shape, pose, and peg-hole contact states. The visual-tactile sensor can perceive the relative moving trend between the gripper and the grasped object, which could be appl
The fusion of a monocular camera and an inertial sensor (i.e., IMU) can help the autonomous navigation ability of a mobile robot, as well as obtain the environmental information. However, it is difficult to adapt the fusion for dynamic objects. Although several recent studies have tracked or even re
Road Network Persistent Surveillance Problem (RPSP) involves path planning for an unmanned ground vehicle (UGV) with detection ability to timely detect the events randomly occurred. The road network is formed by edges and weighted viewpoints, where the UGV must move along the edges. The existing met…
In this letter, a self-triggered based coordinate control scheme with low communication requirements is investigated for a team of unmanned aerial vehicles (UAVs) collaboratively transporting a suspended payload. In most existing research on collaborative transportation, the limited communication ab
UAVs face many challenges in autonomous obstacle avoidance in large outdoor scenarios, specifically the long communication distance from ground stations. The computing power of onboard computers is limited, and the unknown obstacles cannot be accurately detected. In this paper, an autonomous obstacl…
Facing the new challenges of the spacecraft developing, the concept of cellular space robot (CSR) for both space-craft system construction and on-orbit operation is presented in this paper. The system description and design principles are introduced to ensure the flexibility of the system. And dynam…
We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of…
Since the Tethered Space Robot (TSR) has been a research focus as an application of the space tether, a wide range of problems arise in the different phases of the capture mission. In this paper, we propose a new control scheme for the retrieval of passive space debris after captured by a TSR. Under…