5 papers
VIP: Variation-based Iterative-learning Planning for Robotic Navigation
Shuli Lv, Pengda Mao, Chen Min +4
Over the past decade, autonomous robotic systems have been increasingly deployed in applications such as surveying, search and rescue, and last-mile delivery. These applications re…
DART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps
Yu Hu, Fangzhou Zhao, Liang Chen +7
Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies ramp-face suspension preconditioning to change pitch, pitch rate, an…
DART: Dual-Axis Airborne Reachability-Gated Torque-Reaction for Off-Road Vehicle Jumps
Yu Hu, Fangzhou Zhao, Mingyuan Sang +7
Traversing crests, ledges, and ditches at high speed often launches vehicles into the air, and a mishandled landing presents a substantial crash hazard. We show that the airborne p…
Energy-Optimal Spatial Iterative Learning within a Virtual Tube
Chen Min, Shuli Lv, Pengda Mao +3
Due to the limited endurance of embedded energy sources such as lithium-polymer (LiPo) batteries, the flight duration and operational range of unmanned aerial vehicles (UAVs) are s…
Planar-Sector LOS Guidance for Interception of Agile Targets with Lifting-Wing Quadcopters
Linkai Liu, Kun Yang, Han Zou +4
Autonomous visual interception of agile aerial targets is challenging due to unpredictable target motion, limited sensing, and the strong coupling between target visibility and int…