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…