20 citations · 37 across the 10 of their papers we have counts for
6 papers · 1 filter
Global End-Effector Pose Control of an Underactuated Aerial Manipulator via Reinforcement Learning
Shlok Deshmukh, Javier Alonso-Mora, Sihao Sun
Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-deg…
Cross-Entropy Optimization of Physically Grounded Task and Motion Plans
Andreu Matoses Gimenez, Nils Wilde, Chris Pek +1
Autonomously performing tasks often requires robots to plan high-level discrete actions and continuous low-level motions to realize them. Previous TAMP algorithms have focused main…
Decentralized Real-Time Planning for Multi-UAV Cooperative Manipulation via Imitation Learning
Shantnav Agarwal, Javier Alonso-Mora, Sihao Sun
Existing approaches for transporting and manipulating cable-suspended loads using multiple UAVs along reference trajectories typically rely on either centralized control architectu…
SADCHER: Scheduling using Attention-based Dynamic Coalitions of Heterogeneous Robots in Real-Time
Jakob Bichler, Andreu Matoses Gimenez, Javier Alonso-Mora
We present Sadcher, a real-time task assignment framework for heterogeneous multi-robot teams that incorporates dynamic coalition formation and task precedence constraints. Sadcher…
Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learning
Jack Zeng, Andreu Matoses Gimenez, Eugene Vinitsky +2
This paper presents the first decentralized method to enable real-world 6-DoF manipulation of a cable-suspended load using a team of Micro-Aerial Vehicles (MAVs). Our method levera…
Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
Sihao Sun, Xuerui Wang, Dario Sanalitro +3
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively ma…