13 citations · 25 across the 11 of their papers we have counts for
12 papers
SPARC: Spatial-Aware Path Planning via Attentive Agent Communication
Sayang Mu, Xiangyu Wu, Bo An
Efficient communication is critical for decentralized Multi-Robot Path Planning (MRPP), yet existing learned communication methods treat all neighboring robots equally regardless o…
Design, Modeling and Control of a Top-loading Fully-Actuated Cargo Transportation Multirotor
Wooyong Park, Xiangyu Wu, Dongjae Lee +1
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The co…
Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure
Jiaming Zha, Xiangyu Wu, Ryan Dimick +1
We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present…
Learning a Single Near-hover Position Controller for Vastly Different Quadcopters
Dingqi Zhang, Antonio Loquercio, Xiangyu Wu +3
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also show…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry
Xiangyu Wu, Shuxiao Chen, Koushil Sreenath +1
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller +1
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localiz…
Model-free online motion adaptation for energy efficient flights of multicopters
Xiangyu Wu, Jun Zeng, Andrea Tagliabue +1
Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to…
Autonomous Flight through Cluttered Outdoor Environments Using a Memoryless Planner
Junseok Lee, Xiangyu Wu, Seung Jae Lee +1
This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyrami…
A collision-resilient aerial vehicle with icosahedron tensegrity structure
Jiaming Zha, Xiangyu Wu, Joseph Kroeger +2
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology use…
In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size
Xiangyu Wu, Mark W. Mueller
Limited flight range is a common problem for multicopters. To alleviate this problem, we propose a method for finding the optimal speed and heading of a multicopter when flying a g…