7 papers
FlyAware: Inertia-Aware Aerial Manipulation via Vision-Based Estimation and Post-Grasp Adaptation
Biyu Ye, Na Fan, Zhengping Fan +4
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor dr…
COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
Shuai Wang, Xiaoming Tang, Junning Liang +5
Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing…
NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
Hongming Chen, Biyu Ye, Xianqi Liang +2
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed…
Whole-Body Integrated Motion Planning for Aerial Manipulators
Weiliang Deng, Hongming Chen, Biyu Ye +3
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks r…
Aerial Grasping via Maximizing Delta-Arm Workspace Utilization
Haoran Chen, Weiliang Deng, Biyu Ye +3
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal…
AeroThrow: An Autonomous Aerial Throwing System for Precise Payload Delivery
Ziliang Li, Hongming Chen, Yiyang Lin +2
Autonomous aerial systems play an increasingly vital role in a wide range of applications, particularly for transport and delivery tasks in complex environments. In airdrop mission…