This letter presents a resilient mechanism to allocate heterogeneous robots tasks under difficult environmental conditions such as weather events or adversarial attacks. Our primary objective is ensure that each task assigned the requisite level of resources, measured aggregated capabilities allocated task. By keeping track performance deviations external perturbations, our framework quantifies extent which robot (e.g., visual sensing aerial mobility) are affected by conditions. enables an...

This paper introduces a method to enforce balanced power distribution between the stages of single-phase transformer-based cascaded multilevel inverter using new asymmetric ratio 6:7:8:9 stages. Since is fed by single DC source, asymmetry enforced means transformer turns providing multiple redundant switching patterns synthesize an output signal until 35 levels. As it developed in paper, optimum for proposed allow reducing typical unbalance produced commonly used ratios four stage inverters...

Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that connection between quadrotor and load is made a previous stage. However, stage usually requires human intervention, autonomous procedures to locate attach object are not considered. Additionally, most of cables as rigid links, but manipulating considering state when hanging. In this work, we design control catenary robot. Our robot able transport hook-shaped...

Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, not always able to adapt changes in the task specification, e.g., increasing payload. This applies quadrotors, having a maximum payload and only four controllable degrees of freedom, limiting their adaptability task's variations. We propose versatile modular robotic system that can increase its freedom by assembling heterogeneous modules; we call it H-ModQuad. It consists...

The increasing demand for energy and the high penetration of distributed resources require evolution current electrical systems toward smarter more reliable electric grids. In this regard, microgrids (MG) play a vital role in integrating (DER), loads, storage systems. However, microgrid architectures lack versatility flexibility terms control, limiting their expansion. This paper presents multi-mode master-slave control approach to increase DC-coupled hybrid microgrids. proposed scheme...

We present an aerial vehicle composed of a custom quadrotor with tilted rotors and helium balloon, called SBlimp. propose novel control strategy that takes advantage the natural stable attitude blimp to translational motion. Different from cascade controllers in literature controls achieve desired motion, our approach directly linear velocity regardless heading orientation vehicle. As result, swings during provide planar analysis dynamic model, demonstrating stability for controller. Our...

Rural communities in remote areas often encounter significant challenges when it comes to accessing emergency healthcare services and essential supplies due a lack of adequate transportation infrastructure. The situation is further exacerbated by poorly maintained, damaged, or flooded roads, making arduous for rural residents obtain the necessary aid critical situations. Limited budgets technological constraints pose additional obstacles, hindering prompt response local rescue teams during...

From ancient times, humans have been using cables and ropes to tie, carry, manipulate objects by folding knots. However, automating knot is challenging because it requires dexterity move a cable over under itself. In this paper, we propose method fold knots in midair team of aerial vehicles. We take advantage the fact that vehicles are able fly between segments without any re-grasping. So grasps from floor, releases once folded. Based on composition catenary curves, simplify complexity...

Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that are previously attached to load by human intervention. In tasks where multiple need be moved, efficiency robotic system is constrained requirement manual labor. Our approach uses a non-stretchable cable connected two quadrotors, which we call catenary robot, fully automates transportation task. Using cable, can roll and drag cuboid object (box) on planar...

We present a method for cooperative transportation using two catenary robots. Each robot is composed of quadrotors connected by hanging cable. Unlike other methods in the literature aerial cables, we do not assume that cables are attached to object. Instead, wrap around object and pull. Since cable object, need avoid slipping maintaining friction between In this work, focus on manipulating objects with cuboid shapes or boxes. use robots pull box from opposite edges. Once contact box, they...

<title>Abstract</title> Traditional aerial vehicles are constrained to perform specific tasks due their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt different by increasing its load capacity and actuated degrees of freedom. It is composed cuboid modules propelled quadrotors with tilted rotors. We present two families module designs bring actuation characteristics the system. By configuring multiple modules, H-ModQuad increase payload change...

Traditional aerial vehicles have specific characteristics to perform tasks. For instance, in transportation, the are limited with a maximum payload that cannot be extended transport heavier objects. We propose versatile modular robotic system can increase its and controllable degrees of freedom by reconfiguring heterogeneous modules; we call it H-ModQuad. The consists cuboid modules, propelled quadrotors tilted propellers generate forces different directions. present two module designs...

The use of cables for aerial manipulation has shown to be a lightweight and versatile way interact with objects. However, fastening objects using is still challenge human required. In this work, we propose novel secure hitches. hitch can formed morphed in midair team robots cables. hitch's shape modeled as convex polygon, making it adaptable wide variety We an algorithm form the systematically. steps run parallel, allowing hitches large number constant time. develop set actions that include...

The use of cables for aerial manipulation has shown to be a lightweight and versatile way interact with objects. However, fastening objects using is still challenge human required. In this work, we propose novel secure hitches. hitch can formed morphed in midair team robots cables. hitch's shape modeled as convex polygon, making it adaptable wide variety We an algorithm form the systematically. steps run parallel, allowing hitches large number constant time. develop set actions that include...

We present an aerial vehicle composed of a custom quadrotor with tilted rotors and helium balloon, called SBlimp. propose novel control strategy that takes advantage the natural stable attitude blimp to translational motion. Different from cascade controllers in literature controls achieve desired motion, our approach directly linear velocity regardless heading orientation vehicle. As result, swings during provide planar analysis dynamic model, demonstrating stability for controller. Our...

Rural communities in remote areas often encounter significant challenges when it comes to accessing emergency healthcare services and essential supplies due a lack of adequate transportation infrastructure. The situation is further exacerbated by poorly maintained, damaged, or flooded roads, making arduous for rural residents obtain the necessary aid critical situations. Limited budgets technological constraints pose additional obstacles, hindering prompt response local rescue teams during...

For a multi-robot system equipped with heterogeneous capabilities, this paper presents mechanism to allocate robots tasks in resilient manner when anomalous environmental conditions such as weather events or adversarial attacks affect the performance of within tasks. Our primary objective is ensure that each task assigned requisite level resources, measured aggregated capabilities allocated task. By keeping track deviations under external perturbations, our framework quantifies extent which...

From ancient times, humans have been using cables and ropes to tie, carry, manipulate objects by folding knots. However, automating knot is challenging because it requires dexterity move a cable over under itself. In this paper, we propose method fold knots in midair team of aerial vehicles. We take advantage the fact that vehicles are able fly between segments without any re-grasping. So grasps from floor, releases once folded. Based on composition catenary curves, simplify complexity...

Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, not always able to adapt changes in the task specification, e.g., increasing payload. This applies quadrotors, having a maximum payload and only four controllable degrees of freedom, limiting their adaptability task's variations. We propose versatile modular robotic system that can increase its freedom by assembling heterogeneous modules; we call it H-ModQuad. It consists...