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pro vyhledávání: '"Kamel, Mina"'
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized based on th
Externí odkaz:
http://arxiv.org/abs/2011.11104
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model complexity. The
Externí odkaz:
http://arxiv.org/abs/2006.13153
Autor:
Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland
Publikováno v:
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3745-3752, April 2020
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex
Externí odkaz:
http://arxiv.org/abs/2005.11431
Autor:
Allenspach, Mike, Bodie, Karen, Brunner, Maximilian, Rinsoz, Luca, Taylor, Zachary, Kamel, Mina, Siegwart, Roland, Nieto, Juan
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed
Externí odkaz:
http://arxiv.org/abs/2003.09512
Akademický článek
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Akademický článek
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Publikováno v:
ISER 2018: Proceedings of the 2018 International Symposium on Experimental Robotics, pp 85-95
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust syste
Externí odkaz:
http://arxiv.org/abs/1810.06258
Autor:
Kamel, Mina, Verling, Sebastian, Elkhatib, Omar, Sprecher, Christian, Wulkop, Paula, Taylor, Zachary, Siegwart, Roland, Gilitschenski, Igor
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the performance of more complicated inspection tasks and the generation of
Externí odkaz:
http://arxiv.org/abs/1801.04581
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for transportation purpo
Externí odkaz:
http://arxiv.org/abs/1711.08753
Autor:
Bähnemann, Rik, Pantic, Michael, Popović, Marija, Schindler, Dominik, Tranzatto, Marco, Kamel, Mina, Grimm, Marius, Widauer, Jakob, Siegwart, Roland, Nieto, Juan
This article describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms
Externí odkaz:
http://arxiv.org/abs/1710.08275