5 papers
ReForesight: Occlusion-Robust Re-Identification and Future Occupancy Forecasting for Dynamic Semantic Mapping
Didar Seyidov, Faith Ogunwoye, Hajira Amjad +3
Robots sharing walkways need to know where people will be, yet semantic occupancy maps show only where they are. We present ReForesight, an open-source ROS 2 toolkit that adds inst…
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation
Yuri Sarkisov, Andre Coelho, Maihara Santos +4
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-b…
Visual-Inertial Telepresence for Aerial Manipulation
Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov +6
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D…
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho +3
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wr…
Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego +4
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-…