46 citations · 99 across the 8 of their papers we have counts for
8 papers
Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
Heng Xie, Xinyu Cai, Pakpong Chirarattananon
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the…
SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots
Songnan Bai, Shixin Tan, Pakpong Chirarattananon
We introduce SplitFlyer--a novel quadcopter with an ability to disassemble into two self-contained bicopters through human assistance. As a subunit, the bicopter is a severely unde…
Direct Visual-Inertial Ego-Motion Estimation via Iterated Extended Kalman Filter
Shangkun Zhong, Pakpong Chirarattananon
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the…
Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects
Bingguo Mu, Pakpong Chirarattananon
We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control mo…
Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot
Songnan Bai, Pakpong Chirarattananon
Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8-gram aerial r…
A Quadrotor with an Origami-Inspired Protective Mechanism
Jing Shu, Pakpong Chirarattananon
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a…
Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method
Bingguo Mu, Pakpong Chirarattananon
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain…
Ceiling Effects for Hybrid Aerial-Surface Locomotion of Small Rotorcraft
Yi Hsuan Hsiao, Pakpong Chirarattananon
As platform size is reduced, the flight of aerial robots becomes increasingly energetically expensive. Limitations on payload and endurance of these small robots have prompted rese…