40 citations · 71 across the 20 of their papers we have counts for
23 papers
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…
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…
Tethered Power for a Series of Quadcopters: Analysis and Applications
Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa +2
Tethered quadcopters are used for extended flight operations where the power to the system is provided via a tether connected to an external power source. In this work, we consider…
Learning Torque Control for Quadrupedal Locomotion
Shuxiao Chen, Bike Zhang, Mark W. Mueller +2
Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based p…
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…