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Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is performed in a separate step. A disturbance ...Conference Paper -
Hybrid Topological and 3D Dense Mapping through Autonomous Exploration for Large Indoor Environments
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Robots require a detailed understanding of the 3D structure of the environment for autonomous navigation and path planning. A popular approach is to represent the environment using metric, dense 3D maps such as 3D occupancy grids. However, in large environments the computational power required for most state-of-the-art 3D dense mapping systems is compromising precision and real-time capability. In this work, we propose a novel mapping ...Conference Paper -
Fishyscapes: A Benchmark for Safe Semantic Segmentation in Autonomous Driving
(2020)2019 IEEE/CVF International Conference on Computer Vision Workshop (ICCVW)Conference Paper -
Informative Path Planning for Active Field Mapping under Localization Uncertainty
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the ...Conference Paper -
Differential Sweep Attitude Control for Swept Wing UAVs
(2020)2020 International Conference on Unmanned Aircraft Systems (ICUAS)A novel approach for attitude control of swept wing unmanned aerial vehicles (UAVs) is presented, involving the use of only differential wing sweep and rudder deflection. An analytic aerodynamic model of the aircraft based on simple sweep theory is derived in a first step. The prediction of a vortex lattice method is then compared to the initial model. Based on the body moment analysis of the two models, design constraints and a control ...Conference Paper -
Object Finding in Cluttered Scenes Using Interactive Perception
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the environment, and vice versa use perception to guide the next action. Scene interactions are difficult to model, therefore, most of the current systems use predefined heuristics. This limits their ability ...Conference Paper -
Learning Camera Miscalibration Detection
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental transients, or external disturbances. Precise calibration lies at the core of a variety of applications, due to the need to accurately perceive the world. However, while a lot of work has focused on ...Conference Paper -
Dex-net MM: Deep grasping for surface decluttering with a low-precision mobile manipulator
(2019)Proceedings of the 15th International Conference on Automation Science and Engineering (CASE 2019)Conference Paper -
Locally Power-optimal Nonlinear Model Predictive Control for Fixed-wing Airborne Wind Energy
(2019)2019 American Control Conference (ACC)Conference Paper -
Real-time 3D wind field prediction onboard UAVs for safe flight in complex terrain
(2019)2019 IEEE Aerospace ConferenceConference Paper