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Most hovering aircraft such as helicopters and animal-inspired flapping-wing flyers are dynamically unstable in flight, quickly tumbling in the absence of feedback control. The addition of feedback loops can stabilize, but at the cost of additional sensing and actuation components. This can add...
This paper presents a collaborative control strategy designed to enable a team of robots to track attracting Lagrangian coherent structures (LCS) and unstable manifolds in two-dimensional flows. Tracking LCS in flows is important for many applications such as planning energy optimal paths in the...
Constrained Markov decision processes offer a principled method to determine policies for sequential stochastic decision problems where multiple costs are concurrently considered. Although they could be very valuable in numerous robotic applications, to date their use has been quite limited....
For tasks that require complete coverage of surfaces by multiple autonomous industrial robots, it is important that the robots collaborate to appropriately partition and allocate the surface areas amongst themselves such that the robot team’s objectives are optimized. An approach to this problem...
In the last years, autonomous aerial vehicles have become promising mobile robotic platforms capable of manipulating external objects. In particular, quadrotors, rotorcrafts with four propellers, have been used for aerial transportation of cable-suspended loads. A critical step before...
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