A5089232879- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Advanced Vision and Imaging
- Distributed Control Multi-Agent Systems
- Astro and Planetary Science
- Planetary Science and Exploration
- Botany, Ecology, and Taxonomy Studies
- Modular Robots and Swarm Intelligence
- Space Satellite Systems and Control
- UAV Applications and Optimization
- Underwater Vehicles and Communication Systems
- Advanced Data Processing Techniques
- Adaptive Control of Nonlinear Systems
- Plant Pathogens and Fungal Diseases
- Spacecraft Design and Technology
- Data Stream Mining Techniques
- Robot Manipulation and Learning
- Spacecraft and Cryogenic Technologies
- Genetic diversity and population structure
- Robotic Locomotion and Control
- Time Series Analysis and Forecasting
- Advanced Image and Video Retrieval Techniques
- Autonomous Vehicle Technology and Safety
- Hydrological Forecasting Using AI
- Control and Dynamics of Mobile Robots
United Kingdom Atomic Energy Authority
2024
Argonne National Laboratory
2024
Johns Hopkins University Applied Physics Laboratory
2011-2024
University of Pennsylvania
2013-2019
Robotics Research (United States)
2017
California University of Pennsylvania
2013-2016
Rush University
2015
National Institute of Technology Karnataka
2015
KVG Dental College & Hospital
2015
University of Illinois Chicago
2015
Abstract Although no known asteroid poses a threat to Earth for at least the next century, catalogue of near-Earth asteroids is incomplete objects whose impacts would produce regional devastation 1,2 . Several approaches have been proposed potentially prevent an impact with by deflecting or disrupting 1–3 A test kinetic technology was identified as highest-priority space mission related mitigation 1 NASA’s Double Asteroid Redirection Test (DART) full-scale technology. The mission’s target...
Multiagent systems have been a major area of research for the last 15 years. This interest has motivated by tasks that can be executed more rapidly in collaborative manner or are nearly impossible to carry out otherwise. To effective, agents need notion common goal shared entire network (for instance, desired formation) and individual control laws realize goal. The is typically centralized, sense it involves state all at same time. On other hand, often desirable distributed, action an agent...
Abstract This paper addresses the perception, control, and trajectory planning for an aerial platform to identify land on a moving car at 15 km/hr. The hexacopter unmanned vehicle (UAV), equipped with onboard sensors computer, detects using monocular camera predicts future movement nonlinear motion model. While following car, UAV lands its roof, it attaches itself magnetic legs. proposed system is fully autonomous from takeoff landing. Numerous field tests were conducted throughout year‐long...
Micro Unmanned Aerial Vehicles (MAVs) have been used in a wide range of applications [1, 2, 3]. However, there are few papers addressing high-speed grasping and transportation pay-loads using MAVs. Drawing inspiration from aerial hunting by birds prey, we design equip quadrotor MAV with an actuated appendage enabling object retrieval at high speeds. We develop nonlinear dynamic model the system, demonstrate that system is differentially flat, plan trajectories flatness property, present...
This paper addresses the dynamics, control, planning, and visual servoing for micro aerial vehicles to perform high-speed grasping tasks. We draw inspiration from agile, fast-moving birds, such as raptors, that detect, locate, execute swoop maneuvers capture prey. Since these are predominantly in sagittal plane, we consider planar system present mathematical models algorithms motion planning required incorporate similar capabilities quadrotors equipped with a monocular camera. In particular,...
Micro Aerial Vehicles, particularly quadrotors, have been used in a wide range of applications.However, the literature on aerial manipulation and grasping is limited work based quasi-static models.In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey ground or water, develop similar capabilities for quadrotors.We address dynamic grasping, an approach prehensile which dynamics robot its gripper significant must be explicitly...
Abstract This paper addresses the problem of autonomous cooperative localization, grasping and delivering colored ferrous objects by a team unmanned aerial vehicles (UAVs). In proposed scenario, UAVs is required to maximize reward collecting them predefined location. task consists several subtasks such as coverage path planning, object detection state estimation, UAV self‐localization, precise motion control, trajectory tracking, dropping, decentralized coordination. The failure recovery...
In this letter, we address the autonomous flight of a small quadrotor, enabling tracking moving object. The 15-cm diameter, 250-g robot relies only on onboard sensors (a single camera and an inertial measurement unit) computers, can detect, localize, track objects. Our key contributions include relative pose estimate spherical target as well planning algorithm, which considers dynamics underactuated robot, actuator limitations, field view constraints. We show simulation experimental results...
This letter addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, trajectory planning maneuvering robot cylinders with unknown orientations. first develop geometric model that describes cylinder. Then, we derive dynamics system, expressed in terms image features. Based dynamics, present controller, which guarantees...
Autonomous Micro Aerial Vehicles (MAVs) have the potential to assist in real-life tasks involving grasping and transportation, but not before solving several difficult research challenges. In this work, we address design, control, estimation, planning problems for cooperative localization, grasping, transportation of objects challenging outdoor scenarios. We demonstrate an autonomous team MAVs able plan safe trajectories manipulation ferrous objects, while guaranteeing interrobot collision...
Micro-aerial vehicles (MAVs) face limited flight times, which adversely impacts their efficacy for scenarios such as first response and disaster recovery, where it might be useful to deploy persistent radio relays quadrotors monitoring or sampling. Thus, is important enable micro-aerial land perch on different surfaces save energy by cutting power motors. We are motivated use a downward-facing gripper perching, opposed side-mounted gripper, since could also used carry payloads. In this...
The letter investigates how the behavior of small-scale unmanned aerial vehicles (UAVs) is influenced by system's close proximity to ground/rigid surfaces both at hover and in forward flight. We perform an extensive experimental study where a quadrotor tasked with flying velocities range 0–8 m/s altitudes that between 0.05–0.5 m. Experimental data are used evaluate four existing ground effect models. Results suggest models for helicopters in-hover multi-rotors cannot fully describe motion...
The fusion of IMU and RGB-D sensors presents an interesting combination information to achieve autonomous localization mapping using robotic platforms such as ground robots flying vehicles. In this paper, we present a software framework for cooperative while simultaneously multiple aerial platforms. We employ monocular visual odometry algorithm solve the task, where depth data flow associated RGB image is used estimate scale factor with information. current enables onboard control each...
In this work, we present Hold Or take Optimal Plan (HOOP), a centralized trajectory generation algorithm for labeled multi-robot systems operating in obstacle-free, two-dimensional, continuous workspaces. Given team of N robots, each with nth-order dynamics, our finds trajectories that navigate vehicles from their start positions to non-interchangeable goal collision-free manner. The operates two phases. the motion planning step, geometric collision-free, piecewise-linear robot. robot’s is...
An algorithm for autonomous deployment of groups Micro Aerial Vehicles (MAVs) in the cooperative surveillance task is presented this paper. The enables to find a proper distributions all MAVs locations together with feasible and collision free trajectories from their initial position. solution MAV-group satisfies motion constraints MAVs, environment (non-fly zones) imposed by visual onboard relative localization. localization, which used stabilization group flying compact formation, acts as...
This paper addresses the challenge of versatile aerial grasping utilizing suction while considering limitations an on-board vacuum pump. It builds upon our patented self-sealing cup technology, which allows exertion local pulling contact forces for a wide range objects. The novel nature cups enables gripper to be versatile, employing just one, several, or all grasp in passively actuated manner. We begin by describing design system and its components. Because applications are typically...
It is important to enable micro aerial vehicles land and perch on different surfaces save energy by cutting power motors perform tasks such as persistent surveillance. In many cases, the best available may be vertical windows, walls, or inclined roof tops. this paper, we present approaches algorithms for aggressive maneuvering perching of underactuated quadrotors that are not horizontal. We show design a custom foot/gripper smooth surfaces. Then, control planning specified while satisfying...
We address the controller synthesis problem for distributed formation control. Our solution requires only relative bearing measurements (as opposed to full translations), and is based on exact gradient of a Lyapunov function with global minimizers (independently from topology). These properties allow simple proof asymptotic convergence, extensions including distance measurements, leaders collision avoidance. validate our approach through simulations comparison other stateof-the-art algorithms.
The Defense Advanced Research Projects Agency Revolutionizing Prosthetics 2009 program has the goal of developing a neurally-integrated upper limb prosthesis to provide amputee soldiers with pre-injury levels function. A team over 30 collaborating institutions from industry and academia set out design construct prosthetic that achieves natural human performance by combining state art in neuroscience, robotics, sensors, power systems, actuation, complex embedded software. Modular Prosthetic...
Knowledge of tide level is essential for explorations, safe navigation ships in harbour, disposal sediments and its movements, environmental observations many more coastal engineering applications. Artificial Neural Network (ANN) being widely applied field solving various problems. Its ability to learn highly complex interrelationships based on the provided data sets, along with less amount requirement, makes it a powerful modelling tool. The present work related predicting hourly levels at...
The potential of nuclear power in tackling the global energy crisis hinges on development effective decommissioning strategies. While use human workforce is still common practice, robotics has to revolutionise tasks. However, restricted access, crammed environments, and harsh environmental conditions plants are not suited for conventional robots. In this scenario, slender design overall length long-reach manipulators represent a promising solution. Yet, same features that make these suitable...