6 papers
Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control
Aditya Bhatt, Himavarshini Yarragangu, Urvish Shah +2
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achi…
Designing Active Tether-Net Systems for Space Debris Capture with Graph-Learning-Aided Mixed-Combinatorial Optimization
Feng Liu, Achira Boonrath, Gishnu Madhu +2
Active tether-net systems are a promising solution for capturing large non-cooperative targets, such as space debris, by deploying a flexible net manipulated by maneuverable units…
Quantifying Uncertainty in Space Debris Capture with Active Tether-Net Systems Caused by Noisy Observations
Feng Liu, Achira Boonrath, Eleonora M. Botta +1
As Low Earth Orbit has grown more crowded with space debris, the need for reliable and efficient debris removal solutions becomes more urgent. An active tether-net system with mane…
Experimental Setup and Software Pipeline to Evaluate Optimization based Autonomous Multi-Robot Search Algorithms
Aditya Bhatt, Mary Katherine Corra, Franklin Merlo +2
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial…
An Open-source Hardware/Software Architecture and Supporting Simulation Environment to Perform Human FPV Flight Demonstrations for Unmanned Aerial Vehicle Autonomy
Haosong Xiao, Prajit Krisshnakumar, Jagadeswara P K V Pothuri +3
Small multi-rotor unmanned aerial vehicles (UAVs), mainly quadcopters, are nowadays ubiquitous in research on aerial autonomy, including serving as scaled-down models for much larg…
Optimizing Design and Control of Running Robots Abstracted as Torque Driven Spring Loaded Inverted Pendulum (TD-SLIP)
Reed Truax, Feng Liu, Souma Chowdhury +1
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and var…