5 accepted papers
In this letter, we study the effects that perception latency has on the maximum speed a robot can reach to safely navigate through an unknown cluttered environment. We provide a general analysis that can serve as a baseline for future quantitative reasoning for design tradeoffs in autonomous robot n
Collision avoidance plays a crucial role in safe multirotor flight in cluttered environments. Even though a given reference trajectory is designed to be collision free, it might lead to collision due to imperfect tracking caused by external disturbances. In this work, we tackle this problem by compu
This paper concentrates on design of a vision-based guidance command for aerial manipulation of a cylindrical object, using a stochastic model predictive approach. We first develop an image-based cylinder detection algorithm that utilizes a geometric characteristic of perspectively projected circles…
Aerial manipulation tasks necessitate a reliable trajectory planning algorithms to perform complicated tasks. This paper provides a method of developing the locally optimal trajectory for aerial manipulation in constrained environments. We first show differential flatness of the aerial manipulation…
This paper is about opening and closing an unknown drawer using an aerial manipulator. To accommodate practical applications, it is assumed that the direction of motion and mechanical properties of the drawer are not given beforehand. A multirotor combined with a robotic arm is used for the manipula…