5 papers
PreGME: Prescribed Performance Control of Aerial Manipulators based on Variable-Gain ESO
Mengyu Ji, Shiliang Guo, Zhengzhen Li +3
An aerial manipulator, comprising a multirotor base and a robotic arm, is subject to significant dynamic coupling between these two components. Therefore, achieving precise and rob…
Memory-Efficient 2D/3D Shape Assembly of Robot Swarms
Shuoyu Yue, Pengpeng Li, Yang Xu +4
Mean-shift-based approaches have recently emerged as a representative class of methods for robot swarm shape assembly. They rely on image-based target-shape representations to comp…
Predictive Kinematic Coordinate Control for Aerial Manipulators based on Modified Kinematics Learning
Zhengzhen Li, Jiahao Shen, Mengyu Ji +2
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We…
Avian-Inspired High-Precision Tracking Control for Aerial Manipulators
Mengyu Ji, Jiahao Shen, Huazi Cao +1
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem fo…
Motion Planning for Aerial Pick-and-Place based on Geometric Feasibility Constraints
Huazi Cao, Jiahao Shen, Cunjia Liu +2
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partiall…