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Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine learning tools ca
Externí odkaz:
http://arxiv.org/abs/2410.09727
Traditionally, unmanned aerial vehicles (UAVs) rely on CMOS-based cameras to collect images about the world below. One of the most successful applications of UAVs is to generate orthomosaics or orthomaps, in which a series of images are integrated to
Externí odkaz:
http://arxiv.org/abs/2409.18120
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent actuation cons
Externí odkaz:
http://arxiv.org/abs/2409.17079
Accurate and efficient fluid flow models are essential for applications relating to many physical phenomena including geophysical, aerodynamic, and biological systems. While these flows may exhibit rich and multiscale dynamics, in many cases underlyi
Externí odkaz:
http://arxiv.org/abs/2408.14407
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use model-base
Externí odkaz:
http://arxiv.org/abs/2408.07776
Autor:
Cladera, Fernando, Miller, Ian D., Ravichandran, Zachary, Murali, Varun, Hughes, Jason, Hsieh, M. Ani, Taylor, C. J., Kumar, Vijay
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate a system
Externí odkaz:
http://arxiv.org/abs/2405.07169
Autor:
Li, Alice K., Mao, Yue, Manjanna, Sandeep, Liu, Sixuan, Dhanoa, Jasleen, Mehta, Bharg, Edwards, Victoria M., Ojeda, Fernando Cladera, Men, Maël Le, Sigg, Eric, Ulloa, Hugo N., Jerolmack, Douglas J., Hsieh, M. Ani
Climate change has increased the frequency and severity of extreme weather events such as hurricanes and winter storms. The complex interplay of floods with tides, runoff, and sediment creates additional hazards -- including erosion and the undermini
Externí odkaz:
http://arxiv.org/abs/2312.14248
Autor:
Cladera, Fernando, Ravichandran, Zachary, Miller, Ian D., Hsieh, M. Ani, Taylor, C. J., Kumar, Vijay
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent communicat
Externí odkaz:
http://arxiv.org/abs/2309.15975
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on individual motor
Externí odkaz:
http://arxiv.org/abs/2309.11637
With the increase in data availability, it has been widely demonstrated that neural networks (NN) can capture complex system dynamics precisely in a data-driven manner. However, the architectural complexity and nonlinearity of the NNs make it challen
Externí odkaz:
http://arxiv.org/abs/2308.08086