5 papers
MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin
Sausar Karaf, Mikhail Martynov, Oleg Sautenkov +2
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse…
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…
MorphoArms: Morphogenetic Teleoperation of Multimanual Robot
Mikhail Martynov, Zhanibek Darush, Miguel Altamirano Cabrera +2
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in…
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…