27 citations · 45 across the 12 of their papers we have counts for
13 papers
SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp
Jiawei Xu, Diego S D'antonio, Dominic J Ammirato +1
We present an aerial vehicle composed of a custom quadrotor with tilted rotors and a helium balloon, called SBlimp. We propose a novel control strategy that takes advantage of the…
Learning to Navigate in Turbulent Flows with Aerial Robot Swarms: A Cooperative Deep Reinforcement Learning Approach
Diego Patiño, Siddharth Mayya, Juan Calderon +2
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is…
Toward Fine Contact Interactions: Learning to Control Normal Contact Force with Limited Information
Jinda Cui, Jiawei Xu, David Saldaña +1
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact con…
Finding Optimal Modular Robots for Aerial Tasks
Jiawei Xu, David Saldaña
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed…
Dynamic Crowd Vetting: Collaborative Detection of Malicious Robots in Dynamic Communication Networks
Matthew Cavorsi, Frederik Mallmann-Trenn, David Saldaña +1
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within…
Forming and Controlling Hitches in Midair Using Aerial Robots
Diego S. D'Antonio, Subhrajit Bhattacharya, David Saldaña
The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and…
Folding Knots Using a Team of Aerial Robots
Diego S. D'Antonio, David Saldaña
From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requi…
PogoDrone: Design, Model, and Control of a Jumping Quadrotor
Brian Zhu, Jiawei Xu, Andrew Charway +1
We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The ro…
Modular Multi-Rotors: From Quadrotors to Fully-Actuated Aerial Vehicles
Jiawei Xu, Diego S. D'Antonio, David Saldaña
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to di…
Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot
Gustavo A. Cardona, Diego S. D'Antonio, Cristian-Ioan Vasile +1
Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the…
H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF
Jiawei Xu, Diego S. D'Antonio, David Saldaña
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task spec…
The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors
Diego S. D'antonio, Gustavo A. Cardona, David Saldaña
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is…
Resilient Task Allocation in Heterogeneous Multi-Robot Systems
Siddharth Mayya, Diego S. D'antonio, David Saldaña +1
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental co…