8 papers · 1 filter
Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation
Baozhe Zhang, Xinwei Chen, Qingcheng Chen +3
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation…
Universal Trajectory Optimization Framework for Differential Drive Robot Class
Mengke Zhang, Nanhe Chen, Hu Wang +6
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…
Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots
Yongchao Wang, Junjie Wang, Xiaobin Zhou +3
Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the mult…
Microsaccade-inspired Event Camera for Robotics
Botao He, Ze Wang, Yuan Zhou +11
Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. Th…
Skater: A Novel Bi-modal Bi-copter Robot for Adaptive Locomotion in Air and Diverse Terrain
Junxiao Lin, Ruibin Zhang, Neng Pan +2
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its lo…