7 citations · 15 across the 13 of their papers we have counts for
6 papers · 1 filter
AMBER: A tether-deployable gripping crawler with compliant microspines for canopy manipulation
P. A. Wigner, L. Romanello, A. Hammad +5
This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a…
Learning Agile Tensile Perching for Aerial Robots from Demonstrations
Kangle Yuan, Atar Babgei, Luca Romanello +5
Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A…
ForestVO: Enhancing Visual Odometry in Forest Environments through ForestGlue
Thomas Pritchard, Saifullah Ijaz, Ronald Clark +1
Recent advancements in visual odometry systems have improved autonomous navigation; however, challenges persist in complex environments like forests, where dense foliage, variable…
Maintaining Plasticity in Reinforcement Learning: A Cost-Aware Framework for Aerial Robot Control in Non-stationary Environments
Ali Tahir Karasahin, Ziniu Wu, Basaran Bahadir Kocer
Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies ha…
XIRVIO: Critic-guided Iterative Refinement for Visual-Inertial Odometry with Explainable Adaptive Weighting
Chit Yuen Lam, Ronald Clark, Basaran Bahadir Kocer
We introduce XIRVIO, a transformer-based Generative Adversarial Network (GAN) framework for monocular visual inertial odometry (VIO). By taking sequences of images and 6-DoF inerti…
Tendon-driven Grasper Design for Aerial Robot Perching on Tree Branches
Haichuan Li, Ziang Zhao, Ziniu Wu +6
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems…