7 accepted papers
This paper provides a new repetitive control framework for robot manipulators with periodic reference and disturbance signals. We first take the inverse dynamics (ID) approach to a robot manipulator to transform its nonlinear input/output behavior into an equivalent linear time-invariant (LTI) syste…
Visual anomaly classification and segmentation are vital for automating industrial quality inspection. The focus of prior research in the field has been on training custom models for each quality inspection task, which requires task-specific images and annotation. In this paper we move away from thi…
Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness against faulty or noisy inputs, which is indispensable for safety-critical applications like self-driving cars. We investigate learning fusion algorithms that…
This paper presents planning and control algorithms for a multi-rotor with a suspended load. The suspended load cannot be controlled easily by the multi-rotor due to severe dynamic coupling between them. Difficulties are exacerbated by under-actuated, highly nonlinear nature of multi-rotor dynamics.…
Flapping-wing micro air vehicles (FWMAVs) become promising research platforms due to their advantages such as various maneuverability, and concealment. However, unsteady flow at low Reynolds number around the wings makes their dynamics time-varying and highly non-linear. It makes autonomous flight o…
This paper investigates a multi-rotor with a suspended load in perspectives of 1) real-time path planning, 2) obstacle avoidance, and 3) transportation of a suspended object. A suspended load cannot be controlled with conventional controllers designed for nominal multi-rotors due to the dynamic coup…
This paper describes a vision-based target tracking method for a skid-steer vehicle. With the development of deep reinforcement learning, many researchers have tried to generate an end-to-end policy to control the mobile robot from a raw pixel image data. However, the action in most research only co…