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Ground-Effect-Aware Modeling and Control for Multicopters
Tiankai Yang, Kaixin Chai, Jialin Ji +3
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to exte…
Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms
Jialiang Hou, Xin Zhou, Neng Pan +5
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm,…
Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots
Yongchao Wang, Junjie Wang, Xiaobin Zhou +3
Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the mult…
LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
Kaixin Chai, Long Xu, Qianhao Wang +3
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots…
GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction
Rui Jin, Yuman Gao, Yingjian Wang +2
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…