39 citations · 60 across the 11 of their papers we have counts for
11 papers
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning
Guanqi He, Xiaofeng Guo, Luyi Tang +6
Aerial manipulation has recently attracted increasing interest from both industry and academia. Previous approaches have demonstrated success in various specific tasks. However, th…
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
Xiaofeng Guo, Guanqi He, Jiahe Xu +4
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous res…
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning
Qizhao Chen, Ziqi Hu, Junyi Geng +3
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simpl…
Aerial Interaction with Tactile Sensing
Xiaofeng Guo, Guanqi He, Mohammadreza Mousaei +3
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physic…
Learning Koopman Operators with Control Using Bi-level Optimization
Daning Huang, Muhammad Bayu Prasetyo, Yin Yu +1
The accurate modeling and control of nonlinear dynamical effects are crucial for numerous robotic systems. The Koopman formalism emerges as a valuable tool for linear control desig…
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV
Guanqi He, Yash Jangir, Junyi Geng +3
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior…
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction
Azarakhsh Keipour, Mohammadreza Mousaei, Dongwei Bai +2
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and…
Robotic Depowdering for Additive Manufacturing Via Pose Tracking
Zhenwei Liu, Junyi Geng, Xikai Dai +2
With the rapid development of powder-based additive manufacturing, depowdering, a process of removing unfused powder that covers 3D-printed parts, has become a major bottleneck to…
VTOL Failure Detection and Recovery by Utilizing Redundancy
Mohammadreza Mousaei, Azarakhsh Keipour, Junyi Geng +1
Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybr…
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure
Mohammadreza Mousaei, Junyi Geng, Azarakhsh Keipour +2
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many ex…
Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty
Tianchen Ji, Junyi Geng, Katherine Driggs-Campbell
Robust design of autonomous systems under uncertainty is an important yet challenging problem. This work proposes a robust controller that consists of a state estimator and a tube…