Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Field Robotics"
DOI: 10.1002/rob.21842
Abstract: Micro aerial vehicles (MAVs), especially quadrotors, have been widely used in field applications, such as disaster response, field surveillance, and search‐and‐rescue. For accomplishing such missions in challenging environments, the capability of navigating with full autonomy… read more here.
Keywords: point; point clouds; clouds online; quadrotor ... See more keywords
Optimal Standing Jump Trajectory Generation for Biped Robots
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Precision Engineering and Manufacturing"
DOI: 10.1007/s12541-020-00360-6
Abstract: One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to… read more here.
Keywords: trajectory; trajectory generation; standing jump; biped robots ... See more keywords
Onboard trajectory generation for gyroplane unpowered landing based on optimal lift-to-drag ratio target
Sign Up to like & getrecommendations! Published in 2018 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2018.09.023
Abstract: Abstract To achieve the autonomous unpowered landing for gyroplanes, an onboard trajectory generation method is presented in this paper. As a pivotal variable in the proposed method, the Lift-to-Drag Ratio will be uniquely determined in… read more here.
Keywords: trajectory generation; generation; lift drag; unpowered landing ... See more keywords
Energy Management and Guidance for Gyroplane Autonomous Unpowered Landing Based on Onboard Trajectory Generation
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.251
Abstract: Abstract Benefiting from stable autorotation, the capacity of autonomous unpowered landing brings a gyroplane its feasibility of Short or Vertical Landing with high payload fraction, which furthermore extends its application prospects. Aiming to this mission,… read more here.
Keywords: trajectory generation; energy; management; unpowered landing ... See more keywords
Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.12.314
Abstract: Abstract This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV) with three control inputs (surge, yaw and pitch moment) that operates in the presence of time-varying disturbances. The AUV kinematics are… read more here.
Keywords: trajectory generation; tracking underactuated; kinematics; underactuated auv ... See more keywords
Trajectory generation algorithm for safe human-robot collaboration based on multiple depth sensor measurements
Sign Up to like & getrecommendations! Published in 2018 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2017.12.009
Abstract: Abstract Computing and modifying in real-time the trajectory of an industrial robot involved in a Human-Robot Collaboration (HRC) scenario is a challenging problem, mainly because of two conflicting requirements: ensuring the human worker’s safety and… read more here.
Keywords: trajectory generation; robot collaboration; generation algorithm; robot ... See more keywords
Trajectory generation and step planning of a 12 DoF biped robot on uneven surface
Sign Up to like & getrecommendations! Published in 2018 at "Robotica"
DOI: 10.1017/s0263574718000188
Abstract: SUMMARY One of the primary goals of biped locomotion is to generate and execute joint trajectories on a corresponding step plan that takes the robot from a start point to a goal while avoiding obstacles… read more here.
Keywords: trajectory generation; energy; generation; generation step ... See more keywords
Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2016.2633625
Abstract: In this paper, a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e., for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active… read more here.
Keywords: trajectory generation; aerial manipulators; unmanned aerial; generation unmanned ... See more keywords
A Novel Learning-Based Trajectory Generation Strategy for a Quadrotor.
Sign Up to like & getrecommendations! Published in 2022 at "IEEE transactions on neural networks and learning systems"
DOI: 10.1109/tnnls.2022.3217814
Abstract: In this article, a learning-based trajectory generation framework is proposed for quadrotors, which guarantees real-time, efficient, and practice-reliable navigation by online making human-like decisions via reinforcement learning (RL) and imitation learning (IL). Specifically, inspired by… read more here.
Keywords: based trajectory; generation; real time; trajectory generation ... See more keywords
Online Optimal Perception-Aware Trajectory Generation
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2019.2931137
Abstract: This article proposes an online optimal active perception strategy for differentially flat systems meant to maximize the information collected via the available measurements along the planned trajectory. The goal is to generate online a trajectory… read more here.
Keywords: online optimal; trajectory generation; perception; optimal perception ... See more keywords
Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3189249
Abstract: Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on… read more here.
Keywords: elastic actuation; modulation cyclic; trajectory generation; power modulation ... See more keywords