40 citations · 71 across the 20 of their papers we have counts for
7 papers · 1 filter
Docking two multirotors in midair using relative vision measurements
Karan P. Jain, Minos Park, Mark W. Mueller
Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present…
Exploiting collisions for sampling-based multicopter motion planning
Jiaming Zha, Mark W. Mueller
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better…
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…
Staging energy sources to extend flight time of a multirotor UAV
Karan P. Jain, Jerry Tang, Koushil Sreenath +1
Energy sources such as batteries do not decrease in mass after consumption, unlike combustion-based fuels. We present the concept of staging energy sources, i.e. consuming energy i…
A flow disturbance estimation and rejection strategy for multirotors with round-trip trajectories
Jaeseung Byun, Simo A. Mäkiharju, Mark W. Mueller
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance est…
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…
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
Nathan Bucki, Junseok Lee, Mark W. Mueller
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth ima…