5 papers · 1 filter
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…
Whole-Body Control Through Narrow Gaps From Pixels To Action
Tianyue Wu, Yeke Chen, Tianyang Chen +2
Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master thi…
WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
Chenxing Jiang, Kunyi Zhang, Sheng Yang +3
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuo…
Learning Speed Adaptation for Flight in Clutter
Guangyu Zhao, Tianyue Wu, Yeke Chen +1
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressivene…
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
Tianyue Wu, Gongye Zaitian, Qianhao Wang +1
This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity…