Publications (9)
RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments
Zhaopeng Zhang, Shizhen Wu, Chenfeng Guo +3
Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adap…
Payload trajectory tracking control for aerial transportation systems with cable length online optimization
Hai Yu, Zhichao Yang, Wei He +3
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and…
Towards Stable Adversarial Feature Learning for LiDAR based Loop Closure Detection
Lingyun Xu, Peng Yin, Haibo Luo +2
Stable feature extraction is the key for the Loop closure detection (LCD) task in the simultaneously localization and mapping (SLAM) framework. In our paper, the feature extraction…
Neural Network-Based Adaptive Event-Triggered Control for Dual-Arm Unmanned Aerial Manipulator Systems
Yang Wang, Hai Yu, Wei He +3
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together wit…
Synchronous Adversarial Feature Learning for LiDAR based Loop Closure Detection
Peng Yin, Yuqing He, Lingyun Xu +3
Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are u…
Adaptive RISE Control for Dual-Arm Unmanned Aerial Manipulator Systems with Deep Neural Networks
Yang Wang, Hai Yu, Shizhen Wu +4
The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Neverthele…
General Place Recognition Survey: Towards Real-World Autonomy
Peng Yin, Jianhao Jiao, Shiqi Zhao +5
In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a corners…
Robust Control of An Aerial Manipulator Based on A Variable Inertia Parameters Model
Guangyu Zhang, Yuqing He, Bo Dai +3
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of application…
Condition directed Multi-domain Adversarial Learning for Loop Closure Detection
Peng Yin, Yuqing He, Na Liu +1
Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are us…