6 papers
Multimodal Sensor-Gated Mid-Air Launch and Vision-Based Recovery of a Child UAV on a Hovering Mothership Drone
Aashish Sahu, R. Prasanth Kumar
Launching a micro unmanned aerial vehicle (UAV) from a hovering carrier and recovering it in flight requires reliable confirmation that the child is securely seated before the carr…
Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing
Aashish Sahu, R. Prasanth Kumar
This paper presents a geometry-aware predictive control framework for bipedal obstacle crossing across walking and running regimes. The proposed approach integrates a phase-structu…
RTK-Vision PPO for Autonomous Micro UAV Recovery on an Airborne Carrier
Aashish Sahu, R Prasanth Kumar
Autonomous recovery of a micro unmanned aerial vehicle (UAV) onto a moving airborne carrier enables reusable deploy-mission-recover operation, but couples long-range rendezvous, cl…
Integrated Guidance and Control of a Mother-Child UAV-UGV System for Cooperative Missions
Aashish Sahu, R. Prasanth Kumar
Autonomous recovery of a small multirotor onto a hovering multirotor carrier differs from recovery onto ground or shipborne platforms because the recovery surface is itself an acti…
Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages
Aashish Sahu, Shriram Hari, R. Prasanth Kumar
Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, contact interaction, grasp stability, flight control, and narrow-passage…
Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper
Shriram Hari, M Venkata Sai Nikhil, R Prasanth Kumar
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces a…