13 citations · 25 across the 11 of their papers we have counts for
5 papers · 1 filter
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…