4 papers
MorphoMove: Bi-Modal Path Planner with MPC-based Path Follower for Multi-Limb Morphogenetic UAV
Muhammad Ahsan Mustafa, Yasheerah Yaqoot, Mikhail Martynov +2
This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm base…
MorphoGear: An UAV with Multi-Limb Morphogenetic Gear for Rough-Terrain Locomotion
Mikhail Martynov, Zhanibek Darush, Aleksey Fedoseev +1
Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adapti…
MorphoLander: Reinforcement Learning Based Landing of a Group of Drones on the Adaptive Morphogenetic UAV
Sausar Karaf, Aleksey Fedoseev, Mikhail Martynov +3
This paper focuses on a novel robotic system MorphoLander representing heterogeneous swarm of drones for exploring rough terrain environments. The morphogenetic leader drone is cap…
SwarmGear: Heterogeneous Swarm of Drones with Reconfigurable Leader Drone and Virtual Impedance Links for Multi-Robot Inspection
Zhanibek Darush, Mikhail Martynov, Aleksey Fedoseev +2
The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms…